def test_cmd_info(self):
from ros import rostopic
cmd = 'rostopic'
try:
rostopic.rostopicmain([cmd, 'info'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rostopic.rostopicmain([cmd, 'info', '/fake_topic'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rostopic.rostopicmain([cmd, 'info', '/chatter', '/bar/chatter'])
self.fail("should have exited with error")
except SystemExit: pass
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'info', 'rosout'])
v = b.getvalue()
for s in ["Publishers:", "Subscribers", "Type: rosgraph_msgs/Log", " * /rosout"]:
self.assert_(s in v, "failed on %s: %s"%(s, v))
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'info', '/chatter'])
v = b.getvalue()
for s in ["Publishers:", "Subscribers", "Type: std_msgs/String", " * /talker"]:
self.assert_(s in v, "failed on %s: %s"%(s, v))
def test_main(self):
from ros import rostopic
c = 'rostopic'
try:
rostopic.rostopicmain([c])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_main(self):
from ros import rostopic
c = 'rostopic'
try:
rostopic.rostopicmain([c])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_cmd_type(self):
from ros import rostopic
cmd = 'rostopic'
s = '/rosout_agg'
t = 'rosgraph_msgs/Log'
try:
rostopic.rostopicmain([cmd, 'type', 'fake'])
self.fail("should have exited")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_cmd_type(self):
from ros import rostopic
cmd = 'rostopic'
s = '/rosout_agg'
t = 'rosgraph_msgs/Log'
try:
rostopic.rostopicmain([cmd, 'type', 'fake'])
self.fail("should have exited")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_cmd_pub(self):
from ros import rostopic
cmd = 'rostopic'
# we can't actually test functional behavior because rostopic
# needs control over a node, though we can probably change the
# source code to just check for the existing node.
invalid = [['-r', '--once', '/foo', 'std_msgs/String', 'hello'],
['-r', 'a', '/foo', 'std_msgs/String', 'hello'],
['-r', '--', '-1', '/foo', 'std_msgs/String', 'hello'],
[],
['/foo'],
['/foo', 'std_msgs/String', 'a: b: !!c: d: e'],
]
for i in invalid:
try:
rostopic.rostopicmain([cmd, 'pub'] + i)
self.fail("should have exited with error"+str(i))
except SystemExit, e:
self.assert_(e.code != 0)
def test_cmd_pub(self):
from ros import rostopic
cmd = 'rostopic'
# we can't actually test functional behavior because rostopic
# needs control over a node, though we can probably change the
# source code to just check for the existing node.
invalid = [
['-r', '--once', '/foo', 'std_msgs/String', 'hello'],
['-r', 'a', '/foo', 'std_msgs/String', 'hello'],
['-r', '--', '-1', '/foo', 'std_msgs/String', 'hello'],
[],
['/foo'],
['/foo', 'std_msgs/String', 'a: b: !!c: d: e'],
]
for i in invalid:
try:
rostopic.rostopicmain([cmd, 'pub'] + i)
self.fail("should have exited with error" + str(i))
except SystemExit, e:
self.assert_(e.code != 0)
def test_cmd_info(self):
from ros import rostopic
cmd = 'rostopic'
try:
rostopic.rostopicmain([cmd, 'info'])
self.fail("should have exited with error")
except SystemExit:
pass
try:
rostopic.rostopicmain([cmd, 'info', '/fake_topic'])
self.fail("should have exited with error")
except SystemExit:
pass
try:
rostopic.rostopicmain([cmd, 'info', '/chatter', '/bar/chatter'])
self.fail("should have exited with error")
except SystemExit:
pass
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'info', 'rosout'])
v = b.getvalue()
for s in [
"Publishers:", "Subscribers", "Type: rosgraph_msgs/Log",
" * /rosout"
]:
self.assert_(s in v, "failed on %s: %s" % (s, v))
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'info', '/chatter'])
v = b.getvalue()
for s in [
"Publishers:", "Subscribers", "Type: std_msgs/String",
" * /talker"
]:
self.assert_(s in v, "failed on %s: %s" % (s, v))
def test_cmd_find(self):
from ros import rostopic
cmd = 'rostopic'
try:
rostopic.rostopicmain([cmd, 'find'])
self.fail("arg parsing should have failed")
except SystemExit: pass
try:
rostopic.rostopicmain([cmd, 'find', 'std_msgs/String', 'std_msgs/Int32'])
self.fail("arg parsing should have failed")
except SystemExit: pass
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'find', 'std_msgs/String'])
d = [x for x in b.getvalue().split('\n') if x.strip()]
v = ['/foo/chatter', '/bar/chatter', '/chatter']
self.assertEquals(set(v), set(d))
def test_cmd_find(self):
from ros import rostopic
cmd = 'rostopic'
try:
rostopic.rostopicmain([cmd, 'find'])
self.fail("arg parsing should have failed")
except SystemExit:
pass
try:
rostopic.rostopicmain(
[cmd, 'find', 'std_msgs/String', 'std_msgs/Int32'])
self.fail("arg parsing should have failed")
except SystemExit:
pass
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'find', 'std_msgs/String'])
d = [x for x in b.getvalue().split('\n') if x.strip()]
v = ['/foo/chatter', '/bar/chatter', '/chatter']
self.assertEquals(set(v), set(d))
def test_cmd_list(self):
from ros import rostopic
cmd = 'rostopic'
s = '/add_two_ints'
# test failures
for invalid in [['-ps'], ['-b' 'file.bag', '-s'], ['-b' 'file.bag', '-p']]:
try:
rostopic.rostopicmain([cmd, 'list'] + invalid)
self.fail("should have failed")
except SystemExit: pass
# test main entry
rostopic.rostopicmain([cmd, 'list'])
# test directly
topics = ['/chatter', '/foo/chatter', '/bar/chatter', '/rosout', '/rosout_agg']
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics)-set(v))
# publishers-only
topics = ['/chatter', '/foo/chatter', '/bar/chatter', '/rosout', '/rosout_agg']
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-p'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics)-set(v))
self.failIf('/clock' in v)
# subscribers-only
topics = ['/rosout']
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-s'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics)-set(v), "%s vs. %s"%(topics, v))
self.failIf('/chatter' in v)
# turn on verbosity, not checking output as it's not as stable
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-v'])
v = b.getvalue()
self.assert_("Published topics:" in v)
self.assert_("Subscribed topics:" in v)
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-vs'])
v = b.getvalue()
self.failIf("Published topics:" in v)
self.assert_("Subscribed topics:" in v)
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-vp'])
v = b.getvalue()
self.assert_("Published topics:" in v)
self.failIf("Subscribed topics:" in v)
# test with multiple topic names
try:
rostopic.rostopicmain([cmd, 'list', 'rosout', 'rosout_agg'])
self.fail("should have caused parser error")
except SystemExit:
pass
# test with resolved names
for n in topics:
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', n])
self.assertEquals(n, b.getvalue().strip())
# test with relative names
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', 'rosout'])
self.assertEquals('/rosout', b.getvalue().strip())
# test with namespaces
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '/foo'])
self.assertEquals('/foo/chatter', b.getvalue().strip())
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', 'bar'])
self.assertEquals('/bar/chatter', b.getvalue().strip())
for s in ['/chatter', 'chatter', 'foo/chatter', '/bar/chatter']:
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'type', s])
v = b.getvalue().strip()
self.assertEquals('std_msgs/String', v)
def test_main(self):
from ros import rostopic
c = 'rostopic'
try:
rostopic.rostopicmain([c])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
try:
rostopic.rostopicmain([c, 'foo'])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_cmd_pub(self):
from ros import rostopic
cmd = 'rostopic'
# we can't actually test functional behavior because rostopic
# needs control over a node, though we can probably change the
# source code to just check for the existing node.
invalid = [['-r', '--once', '/foo', 'std_msgs/String', 'hello'],
['-r', 'a', '/foo', 'std_msgs/String', 'hello'],
['-r', '--', '-1', '/foo', 'std_msgs/String', 'hello'],
class TestRostopic(unittest.TestCase):
def __init__(self, *args):
unittest.TestCase.__init__(self, *args)
self.vals = set()
# wait for network to initialize
rospy.init_node('test')
topics = ['/chatter', '/foo/chatter', '/bar/chatter']
subs = [
rospy.Subscriber(t, std_msgs.msg.String, self.callback, i)
for i, t in enumerate(topics)
]
all = set(range(0, len(topics)))
timeout_t = time.time() + 10.
while time.time(
) < timeout_t and self.vals != all and not rospy.is_shutdown():
time.sleep(0.1)
[s.unregister() for s in subs]
if rospy.is_shutdown():
self.fail("shutdown")
def test_offline(self):
from ros import rostopic
orig_uri = os.environ['ROS_MASTER_URI']
os.environ['ROS_MASTER_URI'] = 'http://fake_host:12356'
try:
c = 'rostopic'
try:
rostopic._rostopic_cmd_list([c, 'list'])
self.fail("should have raised ROSTopicIOException")
except rostopic.ROSTopicIOException:
pass
try:
rostopic._rostopic_cmd_info([c, 'info', '/chatter'])
self.fail("should have raised ROSTopicIOException")
except rostopic.ROSTopicIOException:
pass
try:
rostopic._rostopic_cmd_type([c, 'type', '/chatter'])
self.fail("should have raised ROSTopicIOException")
except rostopic.ROSTopicIOException:
pass
try:
rostopic._rostopic_cmd_find([c, 'find', 'std_msgs/String'])
self.fail("should have raised ROSTopicIOException")
except rostopic.ROSTopicIOException:
pass
finally:
os.environ['ROS_MASTER_URI'] = orig_uri
def test_cmd_type(self):
from ros import rostopic
cmd = 'rostopic'
s = '/rosout_agg'
t = 'rosgraph_msgs/Log'
try:
rostopic.rostopicmain([cmd, 'type', 'fake'])
self.fail("should have exited")
except SystemExit, e:
self.assertNotEquals(0, e.code)
for s in ['/chatter', 'chatter', 'foo/chatter', '/bar/chatter']:
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'type', s])
v = b.getvalue().strip()
self.assertEquals('std_msgs/String', v)
def test_cmd_list(self):
from ros import rostopic
cmd = 'rostopic'
s = '/add_two_ints'
# test failures
for invalid in [['-ps'], ['-b'
'file.bag', '-s'], ['-b'
'file.bag', '-p']]:
try:
rostopic.rostopicmain([cmd, 'list'] + invalid)
self.fail("should have failed")
except SystemExit:
pass
# test main entry
rostopic.rostopicmain([cmd, 'list'])
# test directly
topics = [
'/chatter', '/foo/chatter', '/bar/chatter', '/rosout',
'/rosout_agg'
]
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics) - set(v))
# publishers-only
topics = [
'/chatter', '/foo/chatter', '/bar/chatter', '/rosout',
'/rosout_agg'
]
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-p'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics) - set(v))
self.failIf('/clock' in v)
# subscribers-only
topics = ['/rosout']
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-s'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
self.failIf(set(topics) - set(v), "%s vs. %s" % (topics, v))
self.failIf('/chatter' in v)
# turn on verbosity, not checking output as it's not as stable
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-v'])
v = b.getvalue()
self.assert_("Published topics:" in v)
self.assert_("Subscribed topics:" in v)
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-vs'])
v = b.getvalue()
self.failIf("Published topics:" in v)
self.assert_("Subscribed topics:" in v)
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '-vp'])
v = b.getvalue()
self.assert_("Published topics:" in v)
self.failIf("Subscribed topics:" in v)
# test with multiple topic names
try:
rostopic.rostopicmain([cmd, 'list', 'rosout', 'rosout_agg'])
self.fail("should have caused parser error")
except SystemExit:
pass
# test with resolved names
for n in topics:
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', n])
self.assertEquals(n, b.getvalue().strip())
# test with relative names
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', 'rosout'])
self.assertEquals('/rosout', b.getvalue().strip())
# test with namespaces
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', '/foo'])
self.assertEquals('/foo/chatter', b.getvalue().strip())
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'list', 'bar'])
self.assertEquals('/bar/chatter', b.getvalue().strip())
for s in ['/chatter', 'chatter', 'foo/chatter', '/bar/chatter']:
with fakestdout() as b:
rostopic.rostopicmain([cmd, 'type', s])
v = b.getvalue().strip()
self.assertEquals('std_msgs/String', v)
def test_main(self):
from ros import rostopic
c = 'rostopic'
try:
rostopic.rostopicmain([c])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
try:
rostopic.rostopicmain([c, 'foo'])
self.fail("should have exited with error")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_cmd_pub(self):
from ros import rostopic
cmd = 'rostopic'
# we can't actually test functional behavior because rostopic
# needs control over a node, though we can probably change the
# source code to just check for the existing node.
invalid = [
['-r', '--once', '/foo', 'std_msgs/String', 'hello'],
['-r', 'a', '/foo', 'std_msgs/String', 'hello'],
