def test_TCPROSTransport(self): import rospy.impl.tcpros_base from rospy.impl.tcpros_base import TCPROSTransport, TCPROSTransportProtocol from rospy.impl.transport import OUTBOUND p = TCPROSTransportProtocol('Bob', rospy.AnyMsg) p.direction = OUTBOUND try: TCPROSTransport(p, '') self.fail("TCPROSTransport should not accept bad name") except rospy.impl.tcpros_base.TransportInitError: pass t = TCPROSTransport(p, 'transport-name') self.assert_(t.socket is None) self.assert_(t.md5sum is None) self.assert_(t.type is None) self.assertEquals(p, t.protocol) self.assertEquals('TCPROS', t.transport_type) self.assertEquals(OUTBOUND, t.direction) self.assertEquals('unknown', t.endpoint_id) self.assertEquals('', t.read_buff.getvalue()) self.assertEquals('', t.write_buff.getvalue()) s = MockSock('12345') t.set_socket(s, 'new_endpoint_id') self.assertEquals('new_endpoint_id', t.endpoint_id) self.assertEquals(s, t.socket) t.close() self.assert_(t.socket is None) self.assert_(t.read_buff is None) self.assert_(t.write_buff is None) self.assert_(t.protocol is None)
def test_TCPROSTransportProtocol(self): import rospy import random from rospy.impl.tcpros_base import TCPROSTransportProtocol from rospy.impl.transport import BIDIRECTIONAL p = TCPROSTransportProtocol('Bob', rospy.AnyMsg) self.assertEquals('Bob', p.resolved_name) self.assertEquals(rospy.AnyMsg, p.recv_data_class) self.assertEquals(BIDIRECTIONAL, p.direction) self.assertEquals({}, p.get_header_fields()) self.assertEquals(rospy.impl.tcpros_base.DEFAULT_BUFF_SIZE, p.buff_size) v = random.randint(1, 100) p = TCPROSTransportProtocol('Bob', rospy.AnyMsg, queue_size=v) self.assertEquals(v, p.queue_size) v = random.randint(1, 100) p = TCPROSTransportProtocol('Bob', rospy.AnyMsg, buff_size=v) self.assertEquals(v, p.buff_size)