def test_subscribe_param_simple(self): from rosmaster.registrations import RegistrationManager from rosmaster.paramserver import ParamDictionary # setup node and subscriber data reg_manager = RegistrationManager(ThreadPoolMock()) param_server = ParamDictionary(reg_manager) # subscribe to parameter that has not been set yet self.last_update = None self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 1, notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 1), ], self.last_update) # resubscribe self.assertEquals(1, param_server.subscribe_param('/foo', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 2, notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 2), ], self.last_update) # resubscribe (test canonicalization of parameter name) self.assertEquals(2, param_server.subscribe_param('/foo/', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 'resub2', notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 'resub2'), ], self.last_update) # change the URI self.assertEquals('resub2', param_server.subscribe_param('/foo', ('node1', 'http://node1b:1'))) self.assertEquals('http://node1b:1', reg_manager.get_node('node1').api) param_server.set_param('/foo', 3, notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1b:1')], '/foo/', 3), ], self.last_update) # multiple subscriptions to same param self.assertEquals(3, param_server.subscribe_param('/foo', ('node2', 'http://node2:2'))) self.assertEquals('http://node2:2', reg_manager.get_node('node2').api) param_server.set_param('/foo', 4, notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1b:1'), ('node2', 'http://node2:2')], '/foo/', 4), ], self.last_update)
def test_unsubscribe_param(self): from rosmaster.registrations import RegistrationManager from rosmaster.paramserver import ParamDictionary # setup node and subscriber data reg_manager = RegistrationManager(ThreadPoolMock()) param_server = ParamDictionary(reg_manager) # basic test self.last_update = None self.assertEquals({}, param_server.subscribe_param( '/foo', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 1, notify_task=self.notify_task) self.assertEquals([ ([('node1', 'http://node1:1')], '/foo/', 1), ], self.last_update) # - return value is actually generated by Registrations code, msg, val = param_server.unsubscribe_param( '/foo', ('node1', 'http://node1:1')) self.assertEquals(1, code) self.assertEquals(1, val) self.last_update = None param_server.set_param('/foo', 2, notify_task=self.notify_task) self.assertEquals(None, self.last_update) # - repeat the unsubscribe code, msg, val = param_server.unsubscribe_param( '/foo', ('node1', 'http://node1:1')) self.assertEquals(1, code) self.assertEquals(0, val) self.last_update = None param_server.set_param('/foo', 2, notify_task=self.notify_task) self.assertEquals(None, self.last_update) # verify that stale unsubscribe has no effect on active subscription self.last_update = None self.assertEquals({}, param_server.subscribe_param( '/bar', ('barnode', 'http://barnode:1'))) param_server.set_param('/bar', 3, notify_task=self.notify_task) self.assertEquals([ ([('barnode', 'http://barnode:1')], '/bar/', 3), ], self.last_update) code, msg, val = param_server.unsubscribe_param( '/foo', ('barnode', 'http://notbarnode:1')) self.assertEquals(1, code) self.assertEquals(0, val) param_server.set_param('/bar', 4, notify_task=self.notify_task) self.assertEquals([ ([('barnode', 'http://barnode:1')], '/bar/', 4), ], self.last_update)
def test_unsubscribe_param(self): from rosmaster.registrations import RegistrationManager from rosmaster.paramserver import ParamDictionary # setup node and subscriber data reg_manager = RegistrationManager(ThreadPoolMock()) param_server = ParamDictionary(reg_manager) # basic test self.last_update = None self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 1, notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 1), ], self.last_update) # - return value is actually generated by Registrations code, msg, val = param_server.unsubscribe_param('/foo', ('node1', 'http://node1:1')) self.assertEquals(1, code) self.assertEquals(1, val) self.last_update = None param_server.set_param('/foo', 2, notify_task=self.notify_task) self.assertEquals(None, self.last_update) # - repeat the unsubscribe code, msg, val = param_server.unsubscribe_param('/foo', ('node1', 'http://node1:1')) self.assertEquals(1, code) self.assertEquals(0, val) self.last_update = None param_server.set_param('/foo', 2, notify_task=self.notify_task) self.assertEquals(None, self.last_update) # verify that stale unsubscribe has no effect on active subscription self.last_update = None self.assertEquals({}, param_server.subscribe_param('/bar', ('barnode', 'http://barnode:1'))) param_server.set_param('/bar', 3, notify_task=self.notify_task) self.assertEquals([([('barnode', 'http://barnode:1')], '/bar/', 3), ], self.last_update) code, msg, val = param_server.unsubscribe_param('/foo', ('barnode', 'http://notbarnode:1')) self.assertEquals(1, code) self.assertEquals(0, val) param_server.set_param('/bar', 4, notify_task=self.notify_task) self.assertEquals([([('barnode', 'http://barnode:1')], '/bar/', 4), ], self.last_update)
def test_subscribe_param_deletion(self): from rosmaster.registrations import RegistrationManager from rosmaster.paramserver import ParamDictionary # setup node and subscriber data reg_manager = RegistrationManager(ThreadPoolMock()) param_server = ParamDictionary(reg_manager) # subscription to then delete parameter self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1'))) param_server.set_param('/foo', 1, notify_task=self.notify_task) param_server.delete_param('/foo', notify_task=self.notify_task) self.assertEquals([([('node1', 'http://node1:1')], '/foo/', {}), ], self.last_update) # subscribe to and delete whole tree gains = {'p': 'P', 'i': 'I', 'd' : 'D'} self.assertEquals({}, param_server.subscribe_param('/gains', ('deltree', 'http://deltree:1'))) param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task) param_server.delete_param('/gains', notify_task=self.notify_task) self.assertEquals([([('deltree', 'http://deltree:1')], '/gains/', {}), ], self.last_update) # subscribe to and delete params within subtree self.assertEquals({}, param_server.subscribe_param('/gains2', ('deltree2', 'http://deltree2:2'))) param_server.set_param('/gains2', gains.copy(), notify_task=self.notify_task) param_server.delete_param('/gains2/p', notify_task=self.notify_task) self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/p/', {}), ], self.last_update) param_server.delete_param('/gains2/i', notify_task=self.notify_task) self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/i/', {}), ], self.last_update) param_server.delete_param('/gains2', notify_task=self.notify_task) self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/', {}), ], self.last_update) # delete parent tree k = '/ns1/ns2/ns3/key' self.assertEquals({}, param_server.subscribe_param(k, ('del_parent', 'http://del_parent:1'))) param_server.set_param(k, 1, notify_task=self.notify_task) param_server.delete_param('/ns1/ns2', notify_task=self.notify_task) self.assertEquals([([('del_parent', 'http://del_parent:1')], '/ns1/ns2/ns3/key/', {}), ], self.last_update)
def test_subscribe_param_tree(self): from rosmaster.registrations import RegistrationManager from rosmaster.paramserver import ParamDictionary # setup node and subscriber data reg_manager = RegistrationManager(ThreadPoolMock()) param_server = ParamDictionary(reg_manager) # Test Parameter Tree Subscriptions # simple case - subscribe and set whole tree gains = {'p': 'P', 'i': 'I', 'd' : 'D'} self.assertEquals({}, param_server.subscribe_param('/gains', ('ptnode', 'http://ptnode:1'))) param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), ], self.last_update) # - test with trailing slash param_server.set_param('/gains/', gains.copy(), notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), ], self.last_update) # change params within tree param_server.set_param('/gains/p', 'P2', notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/p/', 'P2'), ], self.last_update) param_server.set_param('/gains/i', 'I2', notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/i/', 'I2'), ], self.last_update) # test overlapping subscriptions self.assertEquals('P2', param_server.subscribe_param('/gains/p', ('ptnode2', 'http://ptnode2:2'))) param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), \ ([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P'), \ ], self.last_update) # - retest with trailing slash on subscribe self.last_update = None self.assertEquals('P', param_server.subscribe_param('/gains/p/', ('ptnode2', 'http://ptnode2:2'))) param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task) self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), \ ([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P'), \ ], self.last_update) # test with overlapping (change to sub param) param_server.set_param('/gains/p', 'P3', notify_task=self.notify_task) # - this is a bit overtuned as a more optimal ps could use one update ptnode2 = ([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P3') ptnode = ([('ptnode', 'http://ptnode:1')], '/gains/p/', 'P3') self.assertTrue(len(self.last_update) == 2) self.assertTrue(ptnode2 in self.last_update) self.assertTrue(ptnode in self.last_update) # virtual deletion: subscribe to subparam, parameter tree reset self.last_update = None param_server.set_param('/gains2', gains.copy(), notify_task=self.notify_task) self.assertEquals('P', param_server.subscribe_param('/gains2/p/', ('ptnode3', 'http://ptnode3:3'))) # - erase the sub parameters param_server.set_param('/gains2', {}, notify_task=self.notify_task) self.assertEquals([([('ptnode3', 'http://ptnode3:3')], '/gains2/p/', {}), ], self.last_update) #Final test: test subscription to entire tree self.last_update = None param_server.delete_param('/gains') param_server.delete_param('/gains2') self.assertEquals({}, param_server.get_param('/')) self.assertEquals({}, param_server.subscribe_param('/', ('allnode', 'http://allnode:1'))) param_server.set_param('/one', 1, notify_task=self.notify_task) self.assertEquals([([('allnode', 'http://allnode:1')], '/one/', 1), ], self.last_update) param_server.set_param('/two', 2, notify_task=self.notify_task) self.assertEquals([([('allnode', 'http://allnode:1')], '/two/', 2), ], self.last_update) param_server.set_param('/foo/bar', 'bar', notify_task=self.notify_task) self.assertEquals([([('allnode', 'http://allnode:1')], '/foo/bar/', 'bar'), ], self.last_update)