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test_server_components.py

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#!/usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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# modification, are permitted provided that the following conditions are met:
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#     * Redistributions of source code must retain the above copyright
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#     * Redistributions in binary form must reproduce the above copyright
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#     * Neither the name of the Willow Garage, Inc. nor the names of its
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#       this software without specific prior written permission.
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# 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
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# Author: Alexander Sorokin. 

PKG='actionlib'
import roslib; roslib.load_manifest(PKG)
import rospy

import sys
import unittest
import threading

from actionlib import goal_id_generator,status_tracker
import actionlib_msgs.msg 

## A sample python unit test
class TestGoalIDGenerator(unittest.TestCase):

    def test_generator(self):
        gen1 = goal_id_generator.GoalIDGenerator();
        
        id1 = gen1.generate_ID()
        id2 = gen1.generate_ID()
        id3 = gen1.generate_ID()
        nn1,s1,ts1 = id1.id.split('-');
        nn2,s2,ts2 = id2.id.split('-');
        nn3,s3,ts3 = id3.id.split('-');

        self.assertEquals(nn1, "/test_goal_id_generator","node names are different")
        self.assertEquals(nn1, nn2, "node names are different")
        self.assertEquals(nn1, nn3, "node names are different")

        self.assertEquals(s1, "1", "Sequence numbers mismatch")
        self.assertEquals(s2, "2", "Sequence numbers mismatch")
        self.assertEquals(s3, "3", "Sequence numbers mismatch")


    def test_threaded_generation(self):
        """
        This test checks that all the ids are generated unique. This test should fail if the synchronization is set incorrectly. 
        @note this test is can succeed when the errors are present.
        """
        global ids_lists
        ids_lists={};
        def gen_ids(tID=1,num_ids=1000):
            gen = goal_id_generator.GoalIDGenerator();
            for i in range(0,num_ids):
                id=gen.generate_ID();
                ids_lists[tID].append(id);

        num_ids=1000;
        num_threads=200;
        threads=[];
        for tID in range(0,num_threads):
            ids_lists[tID]=[];
            t=threading.Thread(None,gen_ids,None,(),{'tID':tID,'num_ids':num_ids});
            threads.append(t);
            t.start();
        
        for t in threads:
            t.join();

        all_ids={};
        for tID in range(0,num_threads):
            self.assertEquals(len(ids_lists[tID]),num_ids)
            for id in ids_lists[tID]:
                nn,s,ts = id.id.split('-');
                self.assertFalse(s in all_ids,"Duplicate ID found");
                all_ids[s]=1;

    def test_status_tracker(self):
        tracker=status_tracker.StatusTracker("test-id",actionlib_msgs.msg.GoalStatus.PENDING);
        self.assertEquals(tracker.status.goal_id,"test-id");
        self.assertEquals(tracker.status.status,actionlib_msgs.msg.GoalStatus.PENDING);

        

if __name__ == '__main__':
    import rostest
    rospy.init_node("test_goal_id_generator")
    rostest.rosrun(PKG, 'test_goal_id_generator', TestGoalIDGenerator)

---

actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Mar 1 14:59:36 2013