Add basic parameter testing (#73)

Author: chris-smith

test/utils/MasterStub.js

@@ -16,7 +16,12 @@ class RosMasterStub extends EventEmitter {
       registerSubscriber: this._onRegisterSubscriber.bind(this),
       unregisterSubscriber: this._onUnregisterSubscriber.bind(this),
       registerPublisher: this._onRegisterPublisher.bind(this),
-      unregisterPublisher: this._onUnregisterPublisher.bind(this)
+      unregisterPublisher: this._onUnregisterPublisher.bind(this),
+      deleteParam: this._deleteParam.bind(this),
+      setParam: this._setParam.bind(this),
+      getParam: this._getParam.bind(this),
+      hasParam: this._hasParam.bind(this),
+      getParamNames: this._getParamNames.bind(this)
     };
 
     this._providedApis = new Set();
@@ -27,6 +32,8 @@ class RosMasterStub extends EventEmitter {
       pub: null
     };
 
+    this._params = {};
+
     this.listen();
   }
 
@@ -41,6 +48,7 @@ class RosMasterStub extends EventEmitter {
   }
 
   shutdown() {
+    this._params = {};
     this._providedApis.clear();
     this.removeAllListeners();
     return new Promise((resolve, reject) => {
@@ -134,6 +142,56 @@ class RosMasterStub extends EventEmitter {
     callback(null, resp);
     this._clientCache.pub = null;
   }
+
+  // Param stubbing
+  // NOTE: this is NOT a spec ParamServer implementation,
+  // but it provides simple stubs for calls
+
+  _deleteParam(err, params, callback) {
+    const key = params[1];
+    if (this._params.hasOwnProperty(key)) {
+      delete this._params[key];
+      const resp = [1, 'delete value for ' + key, 1];
+      callback(null, resp);
+    }
+    else {
+      const resp = [0, 'no value for ' + key, 1];
+      callback(null, resp);
+    }
+  }
+
+  _setParam(err, params, callback) {
+    const key = params[1];
+    const val = params[2];
+    this._params[key] = val;
+    const resp = [1, 'set value for ' + key, 1];
+    callback(null, resp);
+  }
+
+  _getParam(err, params, callback) {
+    const key = params[1];
+    const val = this._params[key];
+    if (val !== undefined) {
+      const resp = [1, 'data for ' + key, val];
+      callback(null, resp);
+    }
+    else {
+      const resp = [0, 'no data for ' + key, null];
+      callback(null, resp);
+    }
+  }
+
+  _hasParam(err, params, callback) {
+    const key = params[1];
+    const resp = [1, 'check param ' + key, this._params.hasOwnProperty(key)];
+    callback(null, resp);
+  }
+
+  _getParamNames(err, params, callback) {
+    const names = Object.keys(this._params);
+    const resp = [1, 'get param names', names];
+    callback(null, resp);
+  }
 }
 
 module.exports = RosMasterStub;

test/xmlrpcTest.js

@@ -1031,4 +1031,114 @@ describe('Protocol Test', () => {
       });
     });
   });
+
+  describe('Parameters', function() {
+    let masterStub;
+
+    before((done) => {
+      masterStub = new MasterStub('localhost', MASTER_PORT);
+      masterStub.provideAll();
+
+      return rosnodejs.shutdown()
+      .then(() => {
+        rosnodejs.reset();
+        return rosnodejs.initNode(nodeName, initArgs);
+      })
+      .then(() => done());
+    });
+
+    after((done) => {
+      masterStub.shutdown();
+      return rosnodejs.shutdown()
+      .then(() => {
+        rosnodejs.reset();
+        done();
+      });
+    });
+
+    it('Set', function(done) {
+      const nh = rosnodejs.nh;
+
+      nh.setParam('/key', 2)
+      .then(() => {
+        expect(masterStub._params['/key']).to.equal(2);
+        done();
+      });
+    });
+
+    it('Get', function(done) {
+      const nh = rosnodejs.nh;
+
+      nh.getParam('/key')
+      .then((result) => {
+        expect(result).to.equal(2);
+        expect(masterStub._params['/key']).to.equal(2);
+        done();
+      });
+    });
+
+    it('Has', function(done) {
+      const nh = rosnodejs.nh;
+
+      nh.hasParam('/key')
+      .then((result) => {
+        expect(result).to.be.true;
+        expect(masterStub._params['/key']).to.equal(2);
+        done();
+      });
+    });
+
+    it('Delete', function(done) {
+      const nh = rosnodejs.nh;
+
+      nh.deleteParam('/key')
+      .then(() => {
+        expect(masterStub._params['/key']).to.be.undefined;
+        done();
+      });
+    });
+
+    it('Full', function(done) {
+      const nh = rosnodejs.nh;
+
+      nh.getParam('/missing')
+      .then(() => throwNext('Get should reject'))
+      .catch(() => {
+        return nh.hasParam('/missing')
+      })
+      .catch(() => throwNext('Has should resolve'))
+      .then((result) => {
+        expect(result).to.be.false;
+        return nh.setParam('/exists', 1);
+      })
+      .catch(() => throwNext('Set should resolve'))
+      .then(() => {
+        expect(masterStub._params['/exists']).to.equal(1);
+        return nh.hasParam('/exists');
+      })
+      .catch(() => throwNext('Has should resolve'))
+      .then((result) => {
+        expect(result).to.be.true;
+        return nh.getParam('/exists');
+      })
+      .catch(() => throwNext('Get should resolve'))
+      .then((result) => {
+        expect(result).to.equal(1);
+        return nh.deleteParam('/missing');
+      })
+      .then(() => throwNext('Delete should reject'))
+      .catch((err) => {
+        return nh.deleteParam('/exists');
+      })
+      .catch(() => throwNext('Delete should resolve'))
+      .then(() => {
+        return nh.hasParam('/exists');
+      })
+      .catch(() => throwNext('Has should resolve'))
+      .then((result) => {
+        expect(result).to.be.false;
+        done();
+      });
+    });
+  });
 });