rosruby 0.0.1

data/test/test_package.rb

@@ -0,0 +1,10 @@
+#!/usr/bin/env ruby
+
+require 'test/unit'
+require 'ros/package'
+
+class TestPackage < Test::Unit::TestCase
+  def test_pack
+    ROS::Package.read_cache_or_find_all
+  end
+end

data/test/test_param.rb

@@ -0,0 +1,27 @@
+#!/usr/bin/env ruby
+
+require 'test/unit'
+require 'ros'
+
+class TestParam_Normal < Test::Unit::TestCase
+  def test_param_manager
+    remap = {'aa'=>1, 'bb'=>'xx'}
+    param = ROS::ParameterManager.new(ENV['ROS_MASTER_URI'], '/test_param', remap)
+    assert_equal(1, param.get_param('aa'))
+    assert(!param.get_param('cc'))
+
+    assert(param.set_param('cc', [1,2]))
+    assert_equal([1,2], param.get_param('cc'))
+    assert(param.delete_param('cc'))
+    assert(!param.get_param('cc'))
+
+    assert(param.set_param('aa', -1))
+    assert_equal('/aa', param.search_param('aa'))
+    assert_raise(RuntimeError) {param.search_param('xx')}
+    assert(!param.has_param('a'))
+    assert(param.has_param('aa'))
+    assert(param.get_param_names)
+
+    assert(param.delete_param('aa'))
+  end
+end

data/test/test_pubsub.rb

@@ -0,0 +1,154 @@
+#!/usr/bin/env ruby
+
+require 'ros'
+require 'test/unit'
+require 'std_msgs/String'
+
+class TestPubSubNormal < Test::Unit::TestCase
+  TEST_STRING1 = 'TEST1'
+  TEST_STRING2 = 'TEST2'
+
+  def test_double_pubsub
+    node1 = ROS::Node.new('/test_pubsub1')
+    node2 = ROS::Node.new('/test_pubsub2')
+    pub1 = node1.advertise('/chatter', Std_msgs::String)
+
+    pub2 = node2.advertise('/chatter', Std_msgs::String)
+
+    pub_msg1 = Std_msgs::String.new
+    pub_msg1.data = TEST_STRING1
+
+    pub_msg2 = Std_msgs::String.new
+    pub_msg2.data = TEST_STRING2
+
+    message_has_come1 = [nil, nil]
+    message_has_come2 = [nil, nil]
+
+    sub1 = node1.subscribe('/chatter', Std_msgs::String) do |msg|
+      if msg.data == TEST_STRING1
+        message_has_come1[0] = true
+      end
+      if msg.data == TEST_STRING2
+        message_has_come1[1] = true
+      end
+    end
+
+    sub2 = node2.subscribe('/chatter', Std_msgs::String) do |msg|
+      if msg.data == TEST_STRING1
+        message_has_come2[0] = true
+      end
+      if msg.data == TEST_STRING2
+        message_has_come2[1] = true
+      end
+    end
+    sleep(1) # wait for registration and update
+
+    pub1.publish(pub_msg1)
+    pub2.publish(pub_msg2)
+
+    sleep(1)
+    node1.spin_once
+    node2.spin_once
+
+    assert(message_has_come1[0])
+    assert(message_has_come1[1])
+    assert(message_has_come2[0])
+    assert(message_has_come2[1])
+
+    topics = node1.get_published_topics
+    assert_equal(2, topics.length)
+    assert(topics.include?('/chatter'))
+    assert(topics.include?('/rosout'))
+
+    node1.shutdown
+    node2.shutdown
+  end
+
+  def test_single_pubsub
+    node = ROS::Node.new('/test3')
+    pub1 = node.advertise('/chatter', Std_msgs::String)
+
+    pub_msg1 = Std_msgs::String.new
+    pub_msg1.data = TEST_STRING1
+
+    message_has_come1 = nil
+
+    sub1 = node.subscribe('/chatter', Std_msgs::String) do |msg|
+      if msg.data == TEST_STRING1
+        message_has_come1 = true
+      end
+    end
+
+    sleep(1) # wait for registration and update
+
+    pub1.publish(pub_msg1)
+    sleep(1)
+    node.spin_once
+    assert(message_has_come1)
+
+    assert_equal([["/chatter_out_0", 13, 1, 1]], pub1.get_connection_data)
+    assert_equal([["/chatter_in_0", 9, 1]], sub1.get_connection_data)
+
+    pub_info = pub1.get_connection_info[0]
+    assert_equal("/chatter_out_0", pub_info[0])
+    # incomplete
+#    assert(/^http:.*:[0-9]+/=~, pub_info[1])
+    assert_equal("o", pub_info[2])
+    assert_equal("TCPROS", pub_info[3])
+    assert_equal("/chatter", pub_info[4])
+
+    sub_info = sub1.get_connection_info[0]
+    assert_equal("/chatter_in_0", sub_info[0])
+    assert(/^http:.*[0-9]+/=~ sub_info[1])
+    assert_equal("i", sub_info[2])
+    assert_equal("TCPROS", sub_info[3])
+    assert_equal("/chatter", sub_info[4])
+
+    node.shutdown
+  end
+
+  def test_shutdown_by_publisher_or_subscriber_directly
+    node = ROS::Node.new('/test4')
+    pub = node.advertise('/hoge', Std_msgs::String)
+    proxy = ROS::MasterProxy.new('/test_node', ENV['ROS_MASTER_URI'], 'http://dummy:11111')
+    assert(proxy.get_published_topics.include?(["/hoge", "std_msgs/String"]))
+    pub.shutdown
+    assert(!proxy.get_published_topics.include?(["/hoge", "std_msgs/String"]))
+
+    sub1 = node.subscribe('/hoge', Std_msgs::String)
+    pub, sub, ser = proxy.get_system_state
+    assert(sub.include?(["/hoge", ["/test4"]]))
+    sub1.shutdown
+    pub, sub, ser = proxy.get_system_state
+    assert(!sub.include?(["/hoge", ["/test4"]]))
+
+    node.shutdown
+  end
+
+
+  def test_latched
+    node = ROS::Node.new('/test5')
+    pub1 = node.advertise('/chatter', Std_msgs::String, :latched=>true)
+
+    pub_msg1 = Std_msgs::String.new
+    pub_msg1.data = TEST_STRING1
+
+    sleep(1) # wait for registration and update
+
+    pub1.publish(pub_msg1)
+
+    sleep(1) # wait for registration and update
+    message_has_come1 = nil
+
+    sub1 = node.subscribe('/chatter', Std_msgs::String) do |msg|
+      if msg.data == TEST_STRING1
+        message_has_come1 = true
+      end
+    end
+
+    sleep(1)
+    node.spin_once
+    assert(message_has_come1)
+    node.shutdown
+  end
+end

data/test/test_rate.rb

@@ -0,0 +1,16 @@
+#!/usr/bin/env ruby
+
+require 'ros/rate'
+require 'test/unit'
+
+class TestRate_rate < Test::Unit::TestCase
+  def test_sleep
+    r = ROS::Rate.new(10)
+    (1..10).each do |i|
+      start = ::Time.now
+      r.sleep
+      stop = ::Time.now
+      assert_in_delta(0.1, (stop - start), 0.05, "rating #{i}")
+    end
+  end
+end

data/test/test_service.rb

@@ -0,0 +1,34 @@
+#!/usr/bin/env ruby
+
+require 'ros'
+require 'test/unit'
+require 'roscpp_tutorials/TwoInts'
+
+class TestService < Test::Unit::TestCase
+  def test_service
+    node = ROS::Node.new('/test_service1')
+    server = node.advertise_service('/add_two_ints', Roscpp_tutorials::TwoInts) do |req, res|
+      res.sum = req.a + req.b
+      node.loginfo("a=#{req.a}, b=#{req.b}")
+      node.loginfo("  sum = #{res.sum}")
+      if req.a == -1
+        false
+      else
+        true
+      end
+    end
+    assert(node.wait_for_service('/add_two_ints', 1))
+    service = node.service('/add_two_ints', Roscpp_tutorials::TwoInts)
+    req = Roscpp_tutorials::TwoInts.request_class.new
+    res = Roscpp_tutorials::TwoInts.response_class.new
+    req.a = 15
+    req.b = -50
+    assert(service.call(req, res))
+    assert_equal(-35, res.sum)
+    # fails
+    req.a = -1
+    assert(!service.call(req, res))
+    assert(!node.wait_for_service('/xxxxxxx', 0.1))
+    node.shutdown
+  end
+end

data/test/test_slave_proxy.rb

@@ -0,0 +1,49 @@
+#!/usr/bin/env ruby
+
+require 'ros'
+require 'test/unit'
+require 'std_msgs/String'
+
+class TestSlaveProxy < Test::Unit::TestCase
+  TEST_STRING1 = 'TEST1'
+  TEST_STRING2 = 'TEST2'
+
+  def test_slave1
+    node = ROS::Node.new('/test_slave1')
+    pub1 = node.advertise('/chatter', Std_msgs::String)
+
+    pub_msg1 = Std_msgs::String.new
+    pub_msg1.data = TEST_STRING1
+
+    message_has_come1 = nil
+
+    sub1 = node.subscribe('/chatter', Std_msgs::String) do |msg|
+      if msg.data == TEST_STRING1
+        message_has_come1 = true
+      end
+    end
+
+    sleep(1) # wait for registration and update
+
+    pub1.publish(pub_msg1)
+    sleep(1)
+    node.spin_once
+    sub1.get_connection_info
+    slave_uri = sub1.get_connection_info[0][1]
+    slave = ROS::SlaveProxy.new('/slave1', slave_uri)
+
+    assert(slave.get_bus_stats)
+    assert(slave.get_bus_info)
+
+    assert(/^http:.+:[0-9]+/ =~ slave.get_master_uri)
+    assert(/[0-9]+/ =~ slave.get_pid.to_s)
+    assert_equal([["/chatter", "std_msgs/String"]], slave.get_subscriptions)
+    assert_equal(2, slave.get_publications.size)
+    assert(slave.param_update('/hoge', 1))
+    assert(slave.publisher_update('/hoge', ['http://aaa:111']))
+    assert_equal(3, slave.request_topic('/chatter', [["TCPROS"]]).size)
+
+    assert(slave.shutdown('test kill'))
+    node.shutdown
+  end
+end

data/test/test_time.rb

@@ -0,0 +1,39 @@
+#!/usr/bin/env ruby
+
+require 'test/unit'
+require 'ros/time'
+require 'ros/duration'
+
+class TestTime < Test::Unit::TestCase
+  def test_time
+    t1 = ROS::Time.new
+    assert_equal(0, t1.secs)
+    assert_equal(0, t1.nsecs)
+
+    t2 = ROS::Time.now
+    d0 = ROS::Duration.new(1.0)
+    d0.sleep
+    t3 = ROS::Time.now
+    assert_in_delta(1.0, (t3 - t2).to_sec, 0.1)
+    assert(t3 > t2)
+
+    d1 = ROS::Duration.new(1.0)
+    assert_equal(1, d1.secs)
+    assert_equal(0, d1.nsecs)
+
+    d2 = ROS::Duration.new(1.1)
+    assert_equal(1, d2.secs)
+    assert_equal(100000000, d2.nsecs)
+
+    d3 = d1 + d2
+    assert_equal(2, d3.secs)
+    assert_equal(100000000, d3.nsecs)
+
+    d4 = d2 - d1
+    assert_equal(0, d4.secs)
+    assert_equal(100000000, d4.nsecs)
+    assert(d2 > d1)
+    assert(d1 < d2)
+
+  end
+end

metadata

@@ -0,0 +1,170 @@
+--- !ruby/object:Gem::Specification
+name: rosruby
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+  prerelease: 
+platform: ruby
+authors:
+- Takashi Ogura
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2012-06-02 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: &72472620 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *72472620
+description: ! "ROS Ruby Client: rosruby\n=======\n[ROS](http://ros.org) is Robot
+  Operating System developed by [Willow Garage](http://www.willowgarage.com/) and
+  open source communities.\n\nThis project supports ruby ROS client. You can program
+  robots by ruby, very easily.\n\n**Homepage**:     http://otl.github.com/rosruby\n**Git**:
+  \         http://github.com/OTL/rosruby\n**Author**:       Takashi Ogura\n**Copyright**:
+  \   2012\n**License**:      new BSD License\n**Latest Version**: 0.2.0\n\nRequirements\n----------\n-
+  ruby (1.8.x/1.9.x)\n- ROS (electric/fuerte)\n  - ROS requires python2.7 or more
+  libraries\n\n\nLet's start\n---------------\nInstall ROS and ruby first. ROS document
+  is [http://ros.org/wiki/ROS/Installation](http://ros.org/wiki/ROS/Installation)
+  .\n\nYou can install ruby by apt.\n\n```bash\n$ sudo apt-get install ruby\n```\n\nDownload
+  rosruby into your ROS_PACKAGE_PATH.\n\n````bash\n$ git clone git://github.com/OTL/rosruby.git\n```\n\nplease
+  add RUBYLIB environment variable, like below (if you are using bash).\n\n```bash\n$
+  echo \"export RUBYLIB=`rospack find rosruby`/lib\" >> ~/.bashrc\n$ source ~/.bashrc\n```\n\nTo
+  use with precompiled electric release\n-----------------------\nIf you are using
+  precompiled ROS distro, use the msg/srv generation script\n(rosruby_genmsg.py)\nIf
+  you are using ROS from source, it requires just recompile the msg/srv\npackages
+  by rosmake rosruby.\n\n```bash\n$ rosrun rosruby rosruby_genmsg.py\n```\n\nThis
+  converts msg/srv to .rb which is needed by sample programs.\nIf you want to make
+  other packages, add package names for args.\n\nFor example,\n\n```bash\n$ rosrun
+  rosruby rosruby_genmsg.py geometry_msgs nav_msgs\n```\n\n\nSample Source\n--------------\n##
+  Subscriber\n\n```ruby\n#!/usr/bin/env ruby\n\nrequire 'ros'\nrequire 'std_msgs/String'\n\nnode
+  = ROS::Node.new('/rosruby/sample_subscriber')\nnode.subscribe('/chatter', Std_msgs::String)
+  do |msg|\n  puts \"message come! = \\'#{msg.data}\\'\"\nend\n\nwhile node.ok?\n
+  \ node.spin_once\n  sleep(1)\nend\n\n```\n\n## Publisher\n\n```ruby\n#!/usr/bin/env
+  ruby\n\nrequire 'ros'\nrequire 'std_msgs/String'\n\nnode = ROS::Node.new('/rosruby/sample_publisher')\npublisher
+  = node.advertise('/chatter', Std_msgs::String)\n\nmsg = Std_msgs::String.new\n\ni
+  = 0\nwhile node.ok?\n  msg.data = \"Hello, rosruby!: #{i}\"\n  publisher.publish(msg)\n
+  \ sleep(1.0)\n  i += 1\nend\n```\n\nNote\n----------------\nRuby requires 'Start
+  with Capital letter' for class or module names.\nSo please use **S**td_msgs::String
+  class instead of **s**td_msgs::String.\n\nTry Publish and Subscribe\n----------------------\nYou
+  needs three terminal as it is often for ROS users.\nThen you run roscore if is not
+  running.\n\n```bash\n$ roscore\n```\n\nrun publisher sample\n\n```bash\n$ rosrun
+  rosruby sample_publisher.rb\n```\n\nrun subscription sample\n\n```bash\n$ rosrun
+  rosruby sample_subscriber.rb\n```\n\nyou can check publication by using rostopic.\n\n```bash\n$
+  rostopic list\n$ rostopic echo /chatter\n```\n\n\nTry Service?\n----------------------\n\n```bash\n$
+  rosrun rosruby add_two_ints_server.rb\n```\n\nrun client with args ('a' and 'b'
+  for roscpp_tutorials/TwoInts)\n\n```bash\n$ rosrun rosruby add_two_ints_client.rb
+  10 20\n```\n\nand more...\n----------------------\nYou need more tools for testing,
+  generating documentations.\n\n```bash\n$ sudo apt-get install rake gem\n$ sudo gem
+  install yard redcarpet simplecov\n```\n\ndo all tests\n-------------------------\nrun
+  roscore if is not running.\n\n```bash\n$ roscore\n```\n\nand run the unit tests.\n\n```bash\n$
+  roscd rosruby\n$ rake test\n```\n\n\ndocuments\n--------------------------\nyou
+  can generate API documents using yard.\nDocument generation needs yard and redcarpet.\nYou
+  can install these by gem command like this.\n\n```bash\n$ gem install yard redcarpet\n```\n\nThen
+  try to generate documentds.\n\n```bash\n$ rake yard\n```\n\nYou can access to the
+  generated documents from [here](http://otl.github.com/rosruby/doc/).\n"
+email: t.ogura@gmail.com
+executables:
+- rubyroscore
+extensions: []
+extra_rdoc_files: []
+files:
+- lib/ros.rb
+- lib/ros/master.rb
+- lib/ros/ros.rb
+- lib/ros/duration.rb
+- lib/ros/parameter_subscriber.rb
+- lib/ros/subscriber.rb
+- lib/ros/service.rb
+- lib/ros/parameter_manager.rb
+- lib/ros/rate.rb
+- lib/ros/master_proxy.rb
+- lib/ros/log.rb
+- lib/ros/slave_proxy.rb
+- lib/ros/publisher.rb
+- lib/ros/graph_manager.rb
+- lib/ros/topic.rb
+- lib/ros/package.rb
+- lib/ros/service_server.rb
+- lib/ros/node.rb
+- lib/ros/name.rb
+- lib/ros/xmlrpcserver.rb
+- lib/ros/message.rb
+- lib/ros/time.rb
+- lib/ros/roscore.rb
+- lib/ros/service_client.rb
+- lib/ros/tcpros/client.rb
+- lib/ros/tcpros/header.rb
+- lib/ros/tcpros/service_server.rb
+- lib/ros/tcpros/server.rb
+- lib/ros/tcpros/message.rb
+- lib/ros/tcpros/service_client.rb
+- samples/gui.rb
+- samples/sample_publisher.rb
+- samples/sample_log.rb
+- samples/sample_subscriber.rb
+- samples/add_two_ints_client.rb
+- samples/sample_param.rb
+- samples/add_two_ints_server.rb
+- scripts/genmsg_ruby.pyc
+- scripts/gensrv_ruby.pyc
+- scripts/run-test.rb
+- scripts/genmsg_ruby.py
+- scripts/rosruby_genmsg.py
+- scripts/gensrv_ruby.py
+- test/test_message.rb
+- test/test_pubsub.rb
+- test/test_master_proxy.rb
+- test/test_time.rb
+- test/test_slave_proxy.rb
+- test/test_log.rb
+- test/test_package.rb
+- test/test_rate.rb
+- test/test_service.rb
+- test/test_node.rb
+- test/test_param.rb
+- test/test_header.rb
+- bin/rubyroscore
+homepage: http://github.com/OTL/rosruby
+licenses: []
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements:
+- none
+rubyforge_project: 
+rubygems_version: 1.8.11
+signing_key: 
+specification_version: 3
+summary: ROS ruby client
+test_files:
+- test/test_message.rb
+- test/test_pubsub.rb
+- test/test_master_proxy.rb
+- test/test_time.rb
+- test/test_slave_proxy.rb
+- test/test_log.rb
+- test/test_package.rb
+- test/test_rate.rb
+- test/test_service.rb
+- test/test_node.rb
+- test/test_param.rb
+- test/test_header.rb