#!/usr/bin/env python
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# Revision $Id: test_embed_msg.py 3803 2009-02-11 02:04:39Z rob_wheeler $

## Integration test for empty services to test serializers
## and transport

PKG = 'test_rospy'
NAME = 'test_param_api'
import roslib; roslib.load_manifest(PKG)

import sys
import time
import unittest

import rospy
import rostest

class TestClientParamApi(unittest.TestCase):

    def test_param_api(self):
        # test get_param_names
        param_names = rospy.get_param_names()
        for n in ['/param1', 'param1', '~param1', 'param_int', 'param_float']:
            self.assert_(rospy.resolve_name(n) in param_names)
        
        # test has_param
        self.assert_(rospy.has_param('/run_id'))
        self.assert_(rospy.has_param('/param1'))
        self.assert_(rospy.has_param('param1'))
        self.assert_(rospy.has_param('~param1'))

        # test search_param
        self.assertEquals(None, rospy.search_param('not_param1'))
        self.assertEquals(rospy.resolve_name('~param1'), rospy.search_param('param1'))
        self.assertEquals(rospy.resolve_name('parent_param'), rospy.search_param('parent_param'))
        self.assertEquals("/global_param", rospy.search_param('global_param'))                
        
        # test get_param on params set in rostest file
        self.assertEquals('global_param1', rospy.get_param('/param1'))
        self.assertEquals('parent_param1', rospy.get_param('param1'))
        self.assertEquals('private_param1', rospy.get_param('~param1'))
        # - type tests
        self.assertEquals(1, rospy.get_param('param_int'))
        self.assertAlmostEquals(2., rospy.get_param('param_float'))        
        self.assertEquals(True, rospy.get_param('param_bool'))
        self.assertEquals("hello world", rospy.get_param('param_str'))
        
        # test default behavior get_param 
        try:
            rospy.get_param('not_param1')
            self.fail("should have raised KeyError")
        except KeyError: pass
        self.assertEquals('parent_param1', rospy.get_param('param1', 'foo'))
        self.assertEquals('private_param1', rospy.get_param('~param1', 'foo'))
        self.assertEquals('myval', rospy.get_param('not_param1', 'myval'))
        self.assertEquals('myval', rospy.get_param('~not_param1', 'myval'))
        self.assertEquals(None, rospy.get_param('not_param1', None))
        self.assertEquals(None, rospy.get_param('~not_param1', None))

        # test set/get roundtrips
        vals = [ '1', 1, 1., [1, 2, 3, 4], {'a': 1, 'b': 2}]
        for v in vals:
            self.failIf(rospy.has_param("cp_param"))
            try:
                rospy.get_param('cp_param1')
                self.fail("should have thrown KeyError")
            except KeyError: pass
            self.assertEquals(None, rospy.get_param('cp_param', None))
            self.assertEquals("default", rospy.get_param('cp_param', "default"))
            rospy.set_param("cp_param", v)
            self.assert_(rospy.has_param("cp_param"))
            self.assertEquals(v, rospy.get_param("cp_param"))
            self.assertEquals(rospy.resolve_name('cp_param'), rospy.search_param('cp_param'))
            # erase the param and recheck state
            rospy.delete_param('cp_param')
            self.failIf(rospy.has_param("cp_param"))
            self.assertEquals(None, rospy.get_param('cp_param', None))
            self.assertEquals("default", rospy.get_param('cp_param', "default"))
            self.assertEquals(None, rospy.search_param('cp_param'))
            
if __name__ == '__main__':
    rospy.init_node(NAME)
    rostest.run(PKG, NAME, TestClientParamApi, sys.argv)
