#!/usr/bin/env python
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# Revision $Id: params_basic.py 14270 2011-07-12 21:36:39Z kwc $

PKG = 'test_roslaunch'

import roslib; roslib.load_manifest(PKG)

import os, sys, unittest

import rostest
import roslib.packages 
from roslib.params import get_param

## Test Roslaunch 'param' tags
class TestParamsBasic(unittest.TestCase):
    ## test primitive values
    def test_values(self):
        ## Test roslaunch string params
        self.assertEquals(get_param('stringempty'), '')
        print get_param('stringbar')
        self.assertEquals(get_param('stringbar'), 'bar')
        self.assertEquals(get_param('str10'), '10')
        self.assertEquals(get_param('string10'), '10')        
        self.assertEquals(get_param('stringentity'), '<stringentity/>')        
        ## Test roslaunch integer params
        self.assertEquals(get_param("integerneg1"), -1)
        self.assertEquals(get_param("integer0"), 0)
        self.assertEquals(get_param("integer1"), 1)
        self.assertEquals(get_param("integernoop1"), 1)
        self.assertEquals(get_param("integer12345"), 12345)
        ## Test roslaunch float params
        self.assertEquals(get_param("floatpi"),3.14159)
        self.assertEquals(get_param("floatnooppi"),3.14159)
        self.assertEquals(get_param("float3"),3.0)
        self.assertEquals(get_param("floatneg1"),-1.0)
        ## Test roslaunch boolean params
        for p in ['true', 'TRUE', 'True']:
            self.assertTrue(get_param(p), "[%s] is not false: %s"%(p, get_param(p)))
        for p in ['false', "FALSE", 'False']:
            self.assertFalse(get_param(p), "[%s] is not false: %s"%(p, get_param(p)))
            
    ## Test roslaunch ns attribute (namespace) on params
    def test_ns(self):
        self.assertEquals(get_param("/wg/childparam"),"wg")
        self.assertEquals(get_param("/wg2/childparam"),"wg2")
        self.assertEquals(get_param("/wg3/childparam"),"wg3")
        self.assertEquals(get_param("/wg/wg4/childparam"),"wg4")
        self.assertEquals(get_param("/wg/wg4/wg5/childparam"),"wg5")          
        ## Test roslaunch <group> tag with and without ns attribute
        self.assertEquals(get_param("/wga/wg/childparam"),"wg")
        self.assertEquals(get_param("/wga/wg2/childparam"),"wg2")
        self.assertEquals(get_param("/wga/wg3/childparam"),"wg3")
        self.assertEquals(get_param("/wga/wg/wg4/childparam"),"wg4")
        self.assertEquals(get_param("/wga/wg/wg4/wg5/childparam"),"wg5")          
        # test second-level group
        self.assertEquals(get_param("/wga/wgb/wg/childparam"),"bwg")
        self.assertEquals(get_param("/wga/wgb/wg2/childparam"),"bwg2")
        self.assertEquals(get_param("/wga/wgb/wg3/childparam"),"bwg3")
        self.assertEquals(get_param("/wga/wgb/wg/wg4/childparam"),"bwg4")
        self.assertEquals(get_param("/wga/wgb/wg/wg4/wg5/childparam"),"bwg5")
        # test unscoped group
        self.assertEquals(get_param("/wgc/childparam"),"wg")
        self.assertEquals(get_param("/wgc2/childparam"),"wg2")
        self.assertEquals(get_param("/wgc3/childparam"),"wg3")
        self.assertEquals(get_param("/wgc/wg4/childparam"),"wg4")
        self.assertEquals(get_param("/wgc/wg4/wg5/childparam"),"wg5")          
        
    ## test 'command' attribute
    def test_commandandfile(self):
        dir = roslib.packages.get_pkg_dir('roslaunch')
        f = open(os.path.join(dir, 'example.launch'), 'r')
        data = f.read()
        f.close()
        test_file = data
        self.assertEquals(get_param("commandoutput"),test_file)
        self.assertEquals(get_param("textfile"),test_file)
        ## test 'binfile' attribute
        import xmlrpclib
        bindata = get_param("binaryfile")
        self.assertTrue(isinstance(bindata, xmlrpclib.Binary))
        self.assertEquals(bindata.data,test_file)
    
if __name__ == '__main__':
    rostest.rosrun(PKG, sys.argv[0], TestParamsBasic, sys.argv)
    
