@Test
public void testGetPublicationsEmptyList() {
SlaveServer mockSlave = mock(SlaveServer.class);
when(mockSlave.getPublications()).thenReturn(Lists.<DefaultPublisher<?>>newArrayList());
SlaveXmlRpcEndpointImpl slave = new SlaveXmlRpcEndpointImpl(mockSlave);
List<Object> response = slave.getPublications("/foo");
assertEquals(response.get(0), StatusCode.SUCCESS.toInt());
assertEquals(response.get(2), Lists.newArrayList());
}
@Test
public void testGetPidNotSupported() {
SlaveServer mockSlave = mock(SlaveServer.class);
AdvertiseAddress address = AdvertiseAddress.newPrivate();
address.setStaticPort(1234);
when(mockSlave.getPid()).thenThrow(new UnsupportedOperationException());
SlaveXmlRpcEndpointImpl slave = new SlaveXmlRpcEndpointImpl(mockSlave);
List<Object> response = slave.getPid("/foo");
assertEquals(response.get(0), StatusCode.FAILURE.toInt());
}
@Test
public void testGetPid() {
SlaveServer mockSlave = mock(SlaveServer.class);
AdvertiseAddress address = AdvertiseAddress.newPrivate();
address.setStaticPort(1234);
when(mockSlave.getPid()).thenReturn(1234);
SlaveXmlRpcEndpointImpl slave = new SlaveXmlRpcEndpointImpl(mockSlave);
List<Object> response = slave.getPid("/foo");
assertEquals(response.get(0), StatusCode.SUCCESS.toInt());
assertEquals(response.get(2), 1234);
}
@Test
public void testRequestTopic() throws ServerException {
SlaveServer mockSlave = mock(SlaveServer.class);
AdvertiseAddress address = AdvertiseAddress.newPrivate();
address.setStaticPort(1234);
TcpRosProtocolDescription protocol = new TcpRosProtocolDescription(address);
when(mockSlave.requestTopic(
Matchers.<String>any(),
Matchers.eq(Sets.newHashSet(ProtocolNames.TCPROS, ProtocolNames.UDPROS))))
.thenReturn(protocol);
SlaveXmlRpcEndpointImpl slave = new SlaveXmlRpcEndpointImpl(mockSlave);
Object[][] protocols = new Object[][] {{ProtocolNames.TCPROS}, {ProtocolNames.UDPROS}};
List<Object> response = slave.requestTopic("/foo", "/bar", protocols);
assertEquals(response.get(0), StatusCode.SUCCESS.toInt());
assertEquals(response.get(2), protocol.toList());
}
@Test
public void testGetPublications() {
SlaveServer mockSlave = mock(SlaveServer.class);
DefaultPublisher<?> mockPublisher = mock(DefaultPublisher.class);
when(mockSlave.getPublications())
.thenReturn(Lists.<DefaultPublisher<?>>newArrayList(mockPublisher));
when(mockPublisher.getTopicName()).thenReturn(GraphName.of("/bar"));
when(mockPublisher.getTopicMessageType()).thenReturn("/baz");
when(mockPublisher.getTopicDeclarationAsList()).thenReturn(Lists.newArrayList("/bar", "/baz"));
SlaveXmlRpcEndpointImpl slave = new SlaveXmlRpcEndpointImpl(mockSlave);
List<Object> response = slave.getPublications("/foo");
assertEquals(StatusCode.SUCCESS.toInt(), response.get(0));
List<List<String>> protocols = Lists.newArrayList();
protocols.add(Lists.newArrayList("/bar", "/baz"));
assertEquals(protocols, response.get(2));
}
