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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2010, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 00035 ##\author Kevin Watts 00036 00037 ##\brief Tests that analyzer that fails to load will produce diagnostic error 00038 00039 from __future__ import with_statement 00040 00041 DURATION = 5 00042 PKG = 'test_diagnostic_aggregator' 00043 import roslib; roslib.load_manifest(PKG) 00044 import rospy, rostest, unittest 00045 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue 00046 from time import sleep 00047 import sys 00048 import threading 00049 00050 from optparse import OptionParser 00051 00052 00053 def get_raw_name(agg_name): 00054 return agg_name.split('/')[-1] 00055 00056 def get_header_name(agg_name): 00057 return '/'.join(agg_name.split('/')[1:-1]) 00058 00059 class TestFailInit(unittest.TestCase): 00060 def __init__(self, *args): 00061 super(TestFailInit, self).__init__(*args) 00062 00063 parser = OptionParser(usage="usage ./%prog [options]", prog="fail_init_test.py") 00064 parser.add_option('--ns', action="store", default=None, 00065 dest="ns", metavar="NAMESPACE", 00066 help="Expected namespace that analyzer will fail in") 00067 # Option comes with rostest, will fail w/o this line 00068 parser.add_option('--gtest_output', action="store", 00069 dest="gtest") 00070 00071 options, args = parser.parse_args(rospy.myargv()) 00072 00073 if not options.ns: 00074 parser.error("Option --ns is mandatory. Unable to parse args") 00075 00076 self._ns = options.ns 00077 self._item = None 00078 00079 self._mutex = threading.Lock() 00080 00081 00082 rospy.init_node('test_fail_init') 00083 self._starttime = rospy.get_time() 00084 00085 sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb) 00086 00087 def diag_agg_cb(self, msg): 00088 with self._mutex: 00089 for stat in msg.status: 00090 if stat.name.find(self._ns) > 0: 00091 self._item = stat 00092 break 00093 00094 def test_fail_init(self): 00095 while not rospy.is_shutdown(): 00096 sleep(1.0) 00097 if rospy.get_time() - self._starttime > DURATION: 00098 break 00099 00100 self.assert_(not rospy.is_shutdown(), "Rospy shutdown!") 00101 00102 with self._mutex: 00103 self.assert_(self._ns, "Namespace is none. Option --ns not given") 00104 self.assert_(self._item, "No item with name %s found in diag_agg" % self._ns) 00105 self.assert_(self._item.level == 3, "Item failed to initialize, but was not stale. Level: %d" % self._item.level) 00106 00107 00108 if __name__ == '__main__': 00109 if False: 00110 suite = unittest.TestSuite() 00111 suite.addTest(TestFailInit('test_fail_init')) 00112 unittest.TextTestRunner(verbosity = 2).run(suite) 00113 else: 00114 rostest.run(PKG, sys.argv[0], TestFailInit, sys.argv)