def test_reject(self):
        rq1 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.NEW))
        rq1.reject()
        self.assertEqual(rq1.msg.status, Request.REJECTED)

        rq2 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.WAITING))
        rq2.reject()
        self.assertEqual(rq2.msg.status, Request.REJECTED)

        rq3 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.PREEMPTING))
        rq3.reject()
        self.assertEqual(rq3.msg.status, Request.REJECTED)

        rq4 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.PREEMPTED))
        rq4.reject()
        self.assertEqual(rq4.msg.status, Request.REJECTED)

        rq5 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_WILDCARD],
                                    status=Request.GRANTED))
        self.assertRaises(TransitionError, rq5.reject)

    def test_one_request_set(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rset = RequestSet([msg1], RQR_UUID, contents=ResourceReply)
        self.assertEqual(len(rset), 1)
        self.assertTrue(TEST_UUID in rset)
        self.assertEqual(rset[TEST_UUID].msg, msg1)
        self.assertEqual(rset.get(TEST_UUID), rset[TEST_UUID])
        self.assertFalse(DIFF_UUID in rset)
        self.assertIsNone(rset.get(DIFF_UUID))
        self.assertEqual(rset.get(DIFF_UUID, 10), 10)
        self.assertTrue(rset == RequestSet([msg1], RQR_UUID))
        self.assertTrue(rset == RequestSet([msg1], RQR_UUID,
                                           contents=ResourceReply))
        rs2 = copy.deepcopy(rset)
        self.assertTrue(rset == rs2)

        rset_str = """requester_id: 01234567-89ab-cdef-0123-456789abcdef
requests:
  id: 01234567-89ab-cdef-fedc-ba9876543210
    priority: 0
    resources: 
      linux.precise.ros.segbot.*/test_rapp
    status: 0"""
        self.assertEqual(str(rset), rset_str)

        sch_msg = SchedulerRequests(requester=unique_id.toMsg(RQR_UUID),
                                    requests=[msg1])
        self.assertEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)

    def test_constructor(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rq1 = ResourceRequest(msg1)
        self.assertIsNotNone(rq1)
        self.assertEqual(str(rq1),
                         'id: 01234567-89ab-cdef-fedc-ba9876543210\n'
                         '    priority: 0\n'
                         '    resources: \n'
                         '      linux.precise.ros.segbot.*/test_rapp\n'
                         '    status: 0')
        self.assertEqual(rq1.msg.status, Request.NEW)
        self.assertEqual(rq1.msg.resources, [TEST_WILDCARD])

        # why is this broken???
        #self.assertEqual(rq1.get_uuid, TEST_UUID)

        rq2 = ResourceRequest(Request(id=unique_id.toMsg(DIFF_UUID),
                                      resources=[TEST_RESOURCE],
                                      status=Request.NEW))
        self.assertEqual(rq2.msg.status, Request.NEW)
        self.assertEqual(rq2.msg.resources, [TEST_RESOURCE])
        self.assertEqual(rq2.get_uuid(), DIFF_UUID)
        self.assertEqual(str(rq2),
                         'id: 01234567-cdef-fedc-89ab-ba9876543210\n'
                         '    priority: 0\n'
                         '    resources: \n'
                         '      linux.precise.ros.segbot.roberto/test_rapp\n'
                         '    status: 0')

    def test_constructor(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rq1 = ResourceRequest(msg1)
        self.assertIsNotNone(rq1)
        self.assertEqual(str(rq1),
                         """id: 01234567-89ab-cdef-fedc-ba9876543210
    priority: 0
    resources: 
      rocon:/segbot#test_rapp
    status: 0""")
        self.assertEqual(rq1.msg.status, Request.NEW)
        self.assertEqual(rq1.msg.resources, [TEST_WILDCARD])
        self.assertEqual(rq1.uuid, TEST_UUID)

        rq2 = ResourceRequest(Request(id=unique_id.toMsg(DIFF_UUID),
                                      resources=[TEST_RESOURCE],
                                      status=Request.NEW))
        self.assertEqual(rq2.msg.status, Request.NEW)
        self.assertEqual(rq2.msg.resources, [TEST_RESOURCE])
        self.assertEqual(rq2.uuid, DIFF_UUID)
        self.assertEqual(str(rq2),
                         """id: 01234567-cdef-fedc-89ab-ba9876543210
    priority: 0
    resources: 
      rocon:/segbot/roberto#test_rapp
    status: 0""")

    def test_canceled_merge_plus_new_request(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_RESOURCE],
                       status=Request.CANCELING)
        msg2 = Request(id=unique_id.toMsg(DIFF_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rset = RequestSet([msg1, msg2], RQR_UUID)
        self.assertEqual(len(rset), 2)
        self.assertIn(TEST_UUID, rset)
        self.assertIn(DIFF_UUID, rset)
        self.assertEqual(rset[DIFF_UUID].msg.status, Request.NEW)

        # merge a canceled request: TEST_UUID should be deleted, but
        # DIFF_UUID should not
        msg3 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_RESOURCE],
                       status=Request.CLOSED)
        rel_rset = RequestSet([msg3], RQR_UUID)
        rset.merge(rel_rset)
        self.assertEqual(len(rset), 1)
        self.assertNotIn(TEST_UUID, rset)
        self.assertIn(DIFF_UUID, rset)
        self.assertEqual(rset[DIFF_UUID].msg.status, Request.NEW)

        # make a fresh object like the original msg2 for comparison
        msg4 = Request(id=unique_id.toMsg(DIFF_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        self.assertEqual(rset, RequestSet([msg4], RQR_UUID))
        self.assertNotEqual(rset, rel_rset)

    def test_abort(self):
        rq1 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.NEW))
        rq1.abort()
        self.assertEqual(rq1.msg.status, Request.ABORTED)

        rq2 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.WAITING))
        rq2.abort()
        self.assertEqual(rq2.msg.status, Request.ABORTED)

        rq3 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.PREEMPTING))
        rq3.abort()
        self.assertEqual(rq3.msg.status, Request.ABORTED)

        rq4 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_RESOURCE],
                                    status=Request.PREEMPTED))
        rq4.abort()
        self.assertEqual(rq4.msg.status, Request.ABORTED)

        rq5 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
                                    resources=[TEST_WILDCARD],
                                    status=Request.GRANTED))
        rq5.abort()
        self.assertEqual(rq5.msg.status, Request.ABORTED)

    def filter_by(self, world, uuids=[], names=[], types=[], keywords=[], relationships=[]):
        '''
        Reload annotations collection, filtered by new selection criteria.

        @param world:         Annotations in this collection belong to this world.
        @param uuids:         Filter annotations by their uuid.
        @param names:         Filter annotations by their name.
        @param types:         Filter annotations by their type.
        @param keywords:      Filter annotations by their keywords.
        @param relationships: Filter annotations by their relationships.
        @raise WCFError:      If something went wrong.
        '''
        rospy.loginfo("Getting annotations for world '%s' and additional filter criteria", world)
        get_anns_srv = self._get_service_handle('get_annotations', world_canvas_msgs.srv.GetAnnotations)

        ids = [unique_id.toMsg(uuid.UUID('urn:uuid:' + id)) for id in uuids]
        relationships = [unique_id.toMsg(uuid.UUID('urn:uuid:' + id)) for id in relationships]
        response = get_anns_srv(world, ids, names, types, keywords, relationships)

        if response.result:
            if len(response.annotations) > 0:
                rospy.loginfo("%d annotations found", len(response.annotations))
                self._annotations = response.annotations
            else:
                rospy.loginfo("No annotations found for world '%s' with the given search criteria", world)
                del self._annotations[:]
            
            # All non-saved information gets invalidated after reload the collection
            del self._annots_data[:]
            del self._annots_to_delete[:]
            self._saved = True
        else:
            message = "Server reported an error: %s" % response.message
            rospy.logerr(message)
            raise WCFError(message)

def read(filename):
    yaml_data = None 
    with open(filename) as f:
       yaml_data = yaml.load(f)

    anns_list = []
    data_list = []

    for t in yaml_data:
        ann = Annotation()
        ann.timestamp = rospy.Time.now()
        ann.world_id = unique_id.toMsg(uuid.UUID('urn:uuid:' + world_id))
        ann.data_id = unique_id.toMsg(unique_id.fromRandom())
        ann.id = unique_id.toMsg(unique_id.fromRandom())
        ann.name = t['name']
        ann.type = 'yocs_msgs/Wall'
        for i in range(0, random.randint(0,11)):
            ann.keywords.append('kw'+str(random.randint(1,11)))
        if 'prev_id' in vars():
            ann.relationships.append(prev_id)
        prev_id = ann.id
        ann.shape = 1 # CUBE
        ann.color.r = 0.8
        ann.color.g = 0.2
        ann.color.b = 0.2
        ann.color.a = 0.4
        ann.size.x = float(t['width'])
        ann.size.y = float(t['length'])
        ann.size.z = float(t['height'])
        ann.pose.header.frame_id = t['frame_id']
        ann.pose.header.stamp = rospy.Time.now()
        ann.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
        
        # walls are assumed to lay on the floor, so z coordinate is zero;
        # but WCF assumes that the annotation pose is the center of the object
        ann.pose.pose.pose.position.z += ann.size.z/2.0

        anns_list.append(ann)

        object = Wall()
        object.name = t['name']
        object.length = float(t['length'])
        object.width  = float(t['width'])
        object.height = float(t['height'])
        object.pose.header.frame_id = t['frame_id']
        object.pose.header.stamp = rospy.Time.now()
        object.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
        data = AnnotationData()
        data.id = ann.data_id
        data.data = pickle.dumps(object)
        
        data_list.append(data)
        
        print ann, object, data
    
    return anns_list, data_list

def read(file):
    yaml_data = None 
    with open(file) as f:
       yaml_data = yaml.load(f)

    anns_list = []
    data_list = []

    for t in yaml_data:
        ann = Annotation()
        ann.timestamp = rospy.Time.now()
        ann.data_id = unique_id.toMsg(unique_id.fromRandom())
        ann.id = unique_id.toMsg(unique_id.fromRandom())
        ann.world = world
        ann.name = t['name']
        ann.type = 'yocs_msgs/Table'
        for i in range(0, random.randint(0,11)):
            ann.keywords.append('kw'+str(random.randint(1,11)))
        if 'prev_id' in vars():
            ann.relationships.append(prev_id)
        prev_id = ann.id
        ann.shape = 3  #CYLINDER
        ann.color.r = 0.2
        ann.color.g = 0.2
        ann.color.b = 0.8
        ann.color.a = 0.5
        ann.size.x = float(t['radius'])*2
        ann.size.y = float(t['radius'])*2
        ann.size.z = float(t['height'])
        ann.pose.header.frame_id = t['frame_id']
        ann.pose.header.stamp = rospy.Time.now()
        ann.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
        
        # tables are assumed to lay on the floor, so z coordinate is zero;
        # but WCF assumes that the annotation pose is the center of the object
        ann.pose.pose.pose.position.z += ann.size.z/2.0

        anns_list.append(ann)

        object = Table()
        object.name = t['name']
        object.radius = float(t['radius'])
        object.height = float(t['height'])
        object.pose.header.frame_id = t['frame_id']
        object.pose.header.stamp = rospy.Time.now()
        object.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
        data = AnnotationData()
        data.id = ann.data_id
        data.type = ann.type
        data.data = serialize_msg(object)
        
        data_list.append(data)

    return anns_list, data_list

def read(filename):
    yaml_data = None 
    with open(filename) as f:
       yaml_data = yaml.load(f)

    anns_list = []
    data_list = []

    for t in yaml_data:
        ann = Annotation()
        ann.timestamp = rospy.Time.now()
        ann.world_id = unique_id.toMsg(uuid.UUID('urn:uuid:' + world_id))
        ann.data_id = unique_id.toMsg(unique_id.fromRandom())
        ann.id = unique_id.toMsg(unique_id.fromRandom())
        ann.name = t['name']
        ann.type = 'ar_track_alvar/AlvarMarker'
        for i in range(0, random.randint(0,11)):
            ann.keywords.append('kw'+str(random.randint(1,11)))
        # if 'prev_id' in vars():
        #     ann.relationships.append(prev_id)
        # prev_id = ann.id
        ann.shape = 1 # CUBE
        ann.color.r = 1.0
        ann.color.g = 1.0
        ann.color.b = 1.0
        ann.color.a = 1.0
        ann.size.x = 0.18
        ann.size.y = 0.18
        ann.size.z = 0.01
        ann.pose.header.frame_id = t['frame_id']
        ann.pose.header.stamp = rospy.Time.now()
        ann.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])

        anns_list.append(ann)
        
        object = AlvarMarker()
        object.id = t['id']
        object.confidence = t['confidence']
        object.pose.header.frame_id = t['frame_id']
        object.pose.header.stamp = rospy.Time.now()
        object.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
        data = AnnotationData()
        data.id = ann.data_id
        data.data = pickle.dumps(object)
        
        data_list.append(data)
        
        print ann, object, data
    
    return anns_list, data_list

    def __call__(self, msg, timeout=None, callback=None, error_callback=None):
        '''
          Initiates and executes the client request to the server. The type of arguments
          supplied determines whether to apply blocking or non-blocking behaviour.

          If no callback is supplied, the mode is blocking, otherwise non-blocking.
          If no timeout is specified, then a return of None indicates that the
          operation timed out.

          :param msg: the request message
          :type msg: <name>Request

          :param rospy.Duration timeout: time to wait for data

          :param callback: user callback invoked for responses of non-blocking calls
          :type callback: method with arguments (uuid_msgs.UniqueID, <name>Response)

          :returns: msg/id for blocking calls it is the response message, for non-blocking it is the unique id
          :rtype: <name>Response/uuid_msgs.UniqueID or None (if timed out)
        '''
        pair_request_msg = self.ServicePairRequest()
        pair_request_msg.id = unique_id.toMsg(unique_id.fromRandom())
        pair_request_msg.request = msg
        key = unique_id.toHexString(pair_request_msg.id)
        if callback == None and error_callback == None:
            self._request_handlers[key] = BlockingRequestHandler(key)
            return self._make_blocking_call(self._request_handlers[key], pair_request_msg, timeout)
        else:
            request_handler = NonBlockingRequestHandler(key, callback, error_callback)
            self._request_handlers[key] = request_handler.copy()
            self._make_non_blocking_call(request_handler, pair_request_msg, timeout)
            return pair_request_msg.id

    def test_empty_merge(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rset = RequestSet([msg1], RQR_UUID)
        self.assertEqual(len(rset), 1)
        self.assertIn(TEST_UUID, rset)
        sch_msg = SchedulerRequests(requester=unique_id.toMsg(RQR_UUID),
                                    requests=[msg1])
        self.assertEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)

        # merge an empty request set: rset should remain the same
        rset.merge(RequestSet([], RQR_UUID, contents=ActiveRequest))
        self.assertEqual(len(rset), 1)
        self.assertIn(TEST_UUID, rset)
        self.assertEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)

 def test_allocate_permutation_two_resources(self):
     """ Request a regexp allocation followed by an exact
     allocation.  Initially the exact resource gets assigned to the
     regexp, so the second part of the request fails.  The
     allocator must try the other permutation for it to succeed.
     """
     pool = ResourcePool(KnownResources(resources=[
                 CurrentStatus(uri=MARVIN_NAME,
                               rapps={TELEOP_RAPP, EXAMPLE_RAPP}),
                 CurrentStatus(uri=ROBERTO_NAME,
                               rapps={TELEOP_RAPP})]))
     rq = ActiveRequest(Request(
             id=unique_id.toMsg(RQ_UUID),
             resources=[Resource(rapp=TELEOP_RAPP, uri=ANY_NAME),
                        Resource(rapp=EXAMPLE_RAPP, uri=MARVIN_NAME)]))
     alloc = pool.allocate(rq)
     self.assertTrue(alloc)
     self.assertEqual(len(alloc), 2)
     self.assertEqual(pool[MARVIN_NAME].status, CurrentStatus.ALLOCATED)
     self.assertEqual(pool[MARVIN_NAME].owner, RQ_UUID)
     self.assertEqual(pool[ROBERTO_NAME].status, CurrentStatus.ALLOCATED)
     self.assertEqual(pool[ROBERTO_NAME].owner, RQ_UUID)
     self.assertEqual(alloc[0],
                      Resource(rapp=TELEOP_RAPP, uri=ROBERTO_NAME))
     self.assertEqual(alloc[1],
                      Resource(rapp=EXAMPLE_RAPP, uri=MARVIN_NAME))

 def test_validate(self):
     rq1 = ResourceRequest(Request(id=unique_id.toMsg(TEST_UUID),
                                   resources=[TEST_RESOURCE],
                                   status=Request.NEW))
     self.assertTrue(rq1._validate(Request.GRANTED))
     self.assertTrue(rq1._validate(Request.PREEMPTING))
     self.assertFalse(rq1._validate(Request.CLOSED))

 def current_status(self):
     """ :returns: ``scheduler_msgs/CurrentStatus`` for this resource. """
     msg = CurrentStatus(uri=self.uri, status=self.status, rapps=list(self.rapps))
     if self.status == CurrentStatus.ALLOCATED:
         msg.owner = unique_id.toMsg(self.owner)
         msg.priority = self.priority
     return msg

 def test_matching_allocation_one_resource(self):
     pool = ResourcePool(SINGLETON_POOL)
     self.assertEqual(len(pool), 1)
     self.assertEqual(pool.known_resources(), SINGLETON_POOL)
     self.assertFalse(pool.changed)
     res = Resource(rapp=TELEOP_RAPP, uri=ANY_NAME)
     subset = pool._match_subset(res, {CurrentStatus.AVAILABLE})
     self.assertNotIn(MARVIN_NAME, subset)
     self.assertIn(ROBERTO_NAME, subset)
     self.assertEqual(subset, set([ROBERTO_NAME]))
     self.assertEqual(pool.match_list([ROBERTO_RESOURCE],
                                     {CurrentStatus.AVAILABLE}),
                      [set([ROBERTO_NAME])])
     rq = copy.deepcopy(ANY_REQUEST)
     alloc = pool.allocate(rq)
     self.assertTrue(alloc)
     self.assertTrue(pool.changed)
     self.assertEqual(alloc[0], ROBERTO_RESOURCE)
     self.assertEqual(pool[ROBERTO_NAME].status, CurrentStatus.ALLOCATED)
     self.assertEqual(pool[ROBERTO_NAME].owner, RQ_UUID)
     self.assertTrue(pool.changed)
     self.assertEqual(
         pool.known_resources(), 
         KnownResources(resources=[
                 CurrentStatus(uri=ROBERTO_NAME, rapps=TEST_RAPPS,
                               status=CurrentStatus.ALLOCATED,
                               owner=unique_id.toMsg(RQ_UUID))]))
     self.assertFalse(pool.changed)

    def new_request(self, resources, priority=None, uuid=None):
        """ Add a new scheduler request.

        Call this method for each desired new request, then invoke
        :py:meth:`.send_requests` to notify the scheduler.

        :param resources: ROCON resources requested
        :type resources: list of scheduler_msgs/Resource

        :param priority: Scheduling priority of this request.  If
            ``None`` provided, use this requester's priority.
        :type priority: int

        :param uuid: UUID_ of this request. If ``None`` provided, a
            random UUID will be assigned.
        :type uuid: :class:`uuid.UUID` or ``None``

        :returns: UUID (:class:`uuid.UUID`) assigned.
        :raises: :exc:`.WrongRequestError` if request already exists.
        """
        if priority is None:
            priority = self.priority
        if uuid is None:
            uuid = unique_id.fromRandom()
        if uuid in self.rset:
            raise WrongRequestError('UUID already in use.')
        msg = Request(id=unique_id.toMsg(uuid),
                      priority=priority,
                      resources=resources,
                      status=Request.NEW)
        self.rset[uuid] = ResourceRequest(msg)
        return uuid

    def test_one_request_set(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.NEW)
        rset = RequestSet([msg1], RQR_UUID, contents=ActiveRequest)
        self.assertEqual(len(rset), 1)
        self.assertIn(TEST_UUID, rset)
        self.assertEqual(rset[TEST_UUID].msg, msg1)
        self.assertEqual(rset.get(TEST_UUID), rset[TEST_UUID])
        self.assertNotIn(DIFF_UUID, rset)
        self.assertIsNone(rset.get(DIFF_UUID))
        self.assertEqual(rset.get(DIFF_UUID, 10), 10)
        self.assertEqual(rset, RequestSet([msg1], RQR_UUID))
        self.assertEqual(rset, RequestSet([msg1], RQR_UUID,
                                          contents=ActiveRequest))
        rset_str = """requester_id: 01234567-89ab-cdef-0123-456789abcdef
requests:
  id: 01234567-89ab-cdef-fedc-ba9876543210
    priority: 0
    resources: 
      rocon:/segbot#test_rapp
    status: 0"""
        self.assertEqual(str(rset), rset_str)
        sch_msg = SchedulerRequests(requester=unique_id.toMsg(RQR_UUID),
                                    requests=[msg1])
        self.assertEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)

        # vary message contents:
        rs2 = copy.deepcopy(rset)
        self.assertEqual(rset, rs2)
        rq = rs2.get(TEST_UUID)
        rq.msg.priority = 10
        self.assertNotEqual(rset, rs2)
        rq.msg.priority = 0
        self.assertEqual(rset, rs2)
        rq.msg.availability = rospy.Time(1000.0)
        self.assertNotEqual(rset, rs2)
        rq.msg.availability = rospy.Time()
        self.assertEqual(rset, rs2)
        rq.msg.hold_time = rospy.Duration(1000.0)
        self.assertNotEqual(rset, rs2)
        rq.msg.hold_time = rospy.Duration()
        self.assertEqual(rset, rs2)
        rq.msg.resources = [TEST_RESOURCE]
        self.assertNotEqual(rset, rs2)
        rq.msg.resources = [TEST_WILDCARD]
        self.assertEqual(rset, rs2)

    def test_closed_merge(self):
        msg1 = Request(id=unique_id.toMsg(TEST_UUID),
                       resources=[TEST_WILDCARD],
                       status=Request.CLOSED)
        rset = RequestSet([msg1], RQR_UUID, contents=ActiveRequest)
        self.assertEqual(len(rset), 1)
        self.assertIn(TEST_UUID, rset)
        sch_msg = SchedulerRequests(requester=unique_id.toMsg(RQR_UUID),
                                    requests=[msg1])
        self.assertEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)

        # merge an empty request set: TEST_UUID should be deleted
        empty_rset = RequestSet([], RQR_UUID)
        rset.merge(empty_rset)
        self.assertEqual(len(rset), 0)
        self.assertNotIn(TEST_UUID, rset)
        self.assertNotEqual(rset.to_msg(stamp=rospy.Time()), sch_msg)
        self.assertEqual(rset, empty_rset)

 def test_insufficient_resources(self):
     # ask for two when there's only one
     pool = ResourcePool(KnownResources(resources=[ROBERTO]))
     rq1 = ActiveRequest(Request(
             id=unique_id.toMsg(RQ_UUID),
             resources=[ANY_RESOURCE, ANY_RESOURCE]))
     alloc1 = pool.allocate(rq1)
     self.assertFalse(alloc1)
     self.assertEqual(pool[ROBERTO_NAME].status, CurrentStatus.AVAILABLE)
     self.assertIsNone(pool[ROBERTO_NAME].owner)