def test_search_param(self):
from rosmaster.paramserver import ParamDictionary
param_server = ParamDictionary(None)
caller_id = '/node'
# vals are mostly identical, save some randomness. we want
# identical structure in order to stress lookup rules
val1 = { 'level1_p1': random.randint(0, 10000),
'level1_p2' : { 'level2_p2': random.randint(0, 10000) }}
val2 = { 'level1_p1': random.randint(0, 10000),
'level1_p2' : { 'level2_p2': random.randint(0, 10000) }}
val3 = { 'level1_p1': random.randint(0, 10000),
'level1_p2' : { 'level2_p2': random.randint(0, 10000) }}
val4 = { 'level1_p1': random.randint(0, 10000),
'level1_p2' : { 'level2_p2': random.randint(0, 10000) }}
full_dict = {}
# test invalid input
for k in ['', None, '~param']:
try:
param_server.search_param('/level1/level2', k)
self.fail("param_server search should have failed on [%s]"%k)
except ValueError: pass
for ns in ['', None, 'relative', '~param']:
try:
param_server.search_param(ns, 'param')
self.fail("param_server search should have failed on %s"%k)
except ValueError: pass
# set the val parameter at four levels so we can validate search
# - set val1
self.failIf(param_server.has_param('/level1/param'))
self.failIf(param_server.search_param('/level1/node', 'param'))
param_server.set_param('/level1/param', val1)
# - test param on val1
for ns in ['/level1/node', '/level1/level2/node', '/level1/level2/level3/node']:
self.assertEquals('/level1/param', param_server.search_param(ns, 'param'), "failed with ns[%s]"%ns)
self.assertEquals('/level1/param/', param_server.search_param(ns, 'param/'))
self.assertEquals('/level1/param/level1_p1', param_server.search_param(ns, 'param/level1_p1'))
self.assertEquals('/level1/param/level1_p2/level2_p2', param_server.search_param(ns, 'param/level1_p2/level2_p2'))
self.assertEquals(None, param_server.search_param('/root', 'param'))
self.assertEquals(None, param_server.search_param('/root', 'param/'))
# - set val2
self.failIf(param_server.has_param('/level1/level2/param'))
param_server.set_param('/level1/level2/param', val2)
# - test param on val2
for ns in ['/level1/level2/node', '/level1/level2/level3/node', '/level1/level2/level3/level4/node']:
self.assertEquals('/level1/level2/param', param_server.search_param(ns, 'param'))
self.assertEquals('/level1/level2/param/', param_server.search_param(ns, 'param/'))
self.assertEquals('/level1/param', param_server.search_param('/level1/node', 'param'))
self.assertEquals('/level1/param/', param_server.search_param('/level1/node', 'param/'))
self.assertEquals(None, param_server.search_param('/root', 'param'))
# - set val3
self.failIf(param_server.has_param('/level1/level2/level3/param'))
param_server.set_param('/level1/level2/level3/param', val3)
# - test param on val3
for ns in ['/level1/level2/level3/node', '/level1/level2/level3/level4/node']:
self.assertEquals('/level1/level2/level3/param', param_server.search_param(ns, 'param'))
self.assertEquals('/level1/level2/param', param_server.search_param('/level1/level2/node', 'param'))
self.assertEquals('/level1/param', param_server.search_param('/level1/node', 'param'))
# test subparams before we set val4 on the root
# - test looking for param/sub_param
self.assertEquals(None, param_server.search_param('/root', 'param'))
self.assertEquals(None, param_server.search_param('/root', 'param/level1_p1'))
self.assertEquals(None, param_server.search_param('/not/level1/level2/level3/level4/node', 'param/level1_p1'))
tests = [
('/level1/node', '/level1/param/'),
('/level1/level2/', '/level1/level2/param/'),
('/level1/level2', '/level1/level2/param/'),
('/level1/level2/node', '/level1/level2/param/'),
('/level1/level2/notlevel3', '/level1/level2/param/'),
('/level1/level2/notlevel3/node', '/level1/level2/param/'),
('/level1/level2/level3/level4', '/level1/level2/level3/param/'),
('/level1/level2/level3/level4/', '/level1/level2/level3/param/'),
('/level1/level2/level3/level4/node', '/level1/level2/level3/param/'),
]
for ns, pbase in tests:
self.assertEquals(pbase+'level1_p1',
param_server.search_param(ns, 'param/level1_p1'))
retval = param_server.search_param(ns, 'param/level1_p2/level2_p2')
self.assertEquals(pbase+'level1_p2/level2_p2', retval,
"failed with ns[%s] pbase[%s]: %s"%(ns, pbase, retval))
# - set val4 on the root
self.failIf(param_server.has_param('/param'))
param_server.set_param('/param', val4)
self.assertEquals('/param', param_server.search_param('/root', 'param'))
self.assertEquals('/param', param_server.search_param('/notlevel1/node', 'param'))
self.assertEquals('/level1/param', param_server.search_param('/level1/node', 'param'))
self.assertEquals('/level1/param', param_server.search_param('/level1', 'param'))
self.assertEquals('/level1/param', param_server.search_param('/level1/', 'param'))
# make sure that partial match works
val5 = { 'level1_p1': random.randint(0, 10000),
'level1_p2' : { }}
self.failIf(param_server.has_param('/partial1/param'))
param_server.set_param('/partial1/param', val5)
self.assertEquals('/partial1/param', param_server.search_param('/partial1', 'param'))
self.assertEquals('/partial1/param/level1_p1',
param_server.search_param('/partial1', 'param/level1_p1'))
# - this is the important check, should return key even if it doesn't exist yet based on stem match
self.assertEquals('/partial1/param/non_existent',
param_server.search_param('/partial1', 'param/non_existent'))
self.assertEquals('/partial1/param/level1_p2/non_existent',
param_server.search_param('/partial1', 'param/level1_p2/non_existent'))
