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#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2014, Open Source Robotics Foundation, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Open Source Robotics Foundation, Inc. nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import unittest
import rospy
import dynamic_reconfigure.client
class TestSimpleDynamicReconfigureClient(unittest.TestCase):
def testsimple(self):
client = dynamic_reconfigure.client.Client("ref_server", timeout=5)
config = client.get_configuration(timeout=5)
self.assertEqual(0, config['int_'])
self.assertEqual(0.0, config['double_'])
self.assertEqual('foo', config['str_'])
self.assertEqual(False, config['bool_'])
self.assertEqual(1.0, config['double_no_minmax'])
self.assertEqual(2.0, config['double_no_max'])
self.assertEqual(-1.0, config['deep_var_double'])
int_ = 7
double_ = 0.75
str_ = 'bar'
bool_ = True
double_no_max_ = 1e+300
double_no_minmax_ = -1e+300
client.update_configuration(
{"int_": int_, "double_": double_, "str_": str_,
"bool_": bool_,
"double_no_max": double_no_max_, "double_no_minmax": double_no_minmax_}
)
rospy.sleep(1.0)
config = client.get_configuration(timeout=5)
self.assertEqual(int_, config['int_'])
self.assertEqual(double_, config['double_'])
self.assertEqual(str_, config['str_'])
self.assertEqual(type(str_), type(config['str_']))
self.assertEqual(bool_, config['bool_'])
self.assertEqual(double_no_max_, config['double_no_max'])
self.assertEqual(double_no_minmax_, config['double_no_minmax'])
def testmultibytestring(self):
client = dynamic_reconfigure.client.Client("ref_server", timeout=5)
config = client.get_configuration(timeout=5)
self.assertEqual('bar', config['mstr_'])
# Kanji for konnichi wa (hello)
str_ = u"今日は"
client.update_configuration(
{"mstr_": str_}
)
rospy.sleep(1.0)
config = client.get_configuration(timeout=5)
self.assertEqual(u"今日は", config['mstr_'])
self.assertEqual(type(u"今日は"), type(config['mstr_']))
self.assertEqual(u"今日は", rospy.get_param('/ref_server/mstr_'))
# Hiragana for konnichi wa (hello)
str_ = u"こんにちは"
client.update_configuration(
{"mstr_": str_}
)
rospy.sleep(1.0)
config = client.get_configuration(timeout=5)
self.assertEqual(u"こんにちは", config['mstr_'])
self.assertEqual(type(u"こんにちは"), type(config['mstr_']))
self.assertEqual(u"こんにちは", rospy.get_param('/ref_server/mstr_'))
if __name__ == "__main__":
import rostest
rospy.init_node('simple_python_client_test')
rostest.rosrun('dynamic_reconfigure', 'test_simple_dynamic_reconfigure_client_python', TestSimpleDynamicReconfigureClient)
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