[ros_bridge][py] Refactoring getRTCList method.

`Rtclist` arg wasn't used in `hironx_ros_bridge/hironx_client.py`. Rename it to express its usage is private only and utilize it for future purpose.

hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py

@@ -307,7 +307,16 @@ class via the link above; nicely formatted api doc web page
 
     HandGroups = {'rhand': [2, 3, 4, 5], 'lhand': [6, 7, 8, 9]}
 
-    RtcList = []
+    _RTClist = [
+            ['seq', "SequencePlayer"],
+            ['sh', "StateHolder"],
+            ['fk', "ForwardKinematics"],
+            ['ic', "ImpedanceController"],
+            ['el', "SoftErrorLimiter"],
+            # ['co', "CollisionDetector"],
+            ['sc', "ServoController"],
+            ['log', "DataLogger"],
+        ]
 
     # servo controller (grasper)
     sc = None
@@ -442,26 +451,16 @@ def getRTCList(self):
         @rerutrn List of available components. Each element consists of a list
                  of abbreviated and full names of the component.
         '''
-        rtclist = [
-            ['seq', "SequencePlayer"],
-            ['sh', "StateHolder"],
-            ['fk', "ForwardKinematics"],
-            ['ic', "ImpedanceController"],
-            ['el', "SoftErrorLimiter"],
-            # ['co', "CollisionDetector"],
-            ['sc', "ServoController"],
-            ['log', "DataLogger"],
-            ]
         if hasattr(self, 'rmfo'):
             self.ms.load("RemoveForceSensorLinkOffset")
             self.ms.load("AbsoluteForceSensor")
             if "RemoveForceSensorLinkOffset" in self.ms.get_factory_names():
-                rtclist.append(['rmfo', "RemoveForceSensorLinkOffset"])
+                self._RTClist.append(['rmfo', "RemoveForceSensorLinkOffset"])
             elif "AbsoluteForceSensor" in self.ms.get_factory_names():
-                rtclist.append(['rmfo', "AbsoluteForceSensor"])
+                self._RTClist.append(['rmfo', "AbsoluteForceSensor"])
             else:
                 print "Component rmfo is not loadable."
-        return rtclist
+        return self._RTClist
 
     # hand interface
     # effort: 1~100[%]

hironx_ros_bridge/test/test-hironx.test

@@ -25,4 +25,7 @@
         args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" />
   <test type="test_hironx_ik_noinit.py" pkg="hironx_ros_bridge" test-name="test_hironx_ik_noinit" time-limit="3000"
         args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" />
+  <test type="test_hironx_client.py" pkg="hironx_ros_bridge"
+        test-name="test_hironx_client" time-limit="3000"
+        args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" />
 </launch>

hironx_ros_bridge/test/test_hironx_client.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2017, TORK
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of TORK (Tokyo Opensource Robotics Kyokai Association). 
+# nor the names of its contributors may be used to endorse or promote products
+# derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from test_hironx import TestHiro
+
+PKG = 'hironx_ros_bridge'
+
+
+class TestHiroClient(TestHiro):
+
+    def test_getRTCList(self):
+        RTC_LIST = [
+            ['seq', "SequencePlayer"],
+            ['sh', "StateHolder"],
+            ['fk', "ForwardKinematics"],
+            ['ic', "ImpedanceController"],
+            ['el', "SoftErrorLimiter"],
+            # ['co', "CollisionDetector"],
+            ['sc', "ServoController"],
+            ['log', "DataLogger"],
+            ]
+        self.assertListEqual(self.robot.getRTCList(), RTC_LIST)
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'test_hronx_client', TestHiroClient)