my_hztest.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
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00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 ## Gazebo test arm controller
00036 ##   sends posision
00037 ##   checks to see if P3D returns corresponding ground truth within TARGET_TOL of TARGET_VW
00038 ##          for a duration of TARGET_DURATION seconds
00039 
00040 PKG = 'pr2_gazebo'
00041 NAME = 'my_hztest'
00042 
00043 import math
00044 import roslib
00045 roslib.load_manifest(PKG)
00046 roslib.load_manifest('rostest')
00047 
00048 import sys, unittest
00049 import os, os.path, threading, time
00050 import rospy, rostest
00051 from std_msgs.msg import *
00052 from tf.msg import tfMessage
00053 from pr2_mechanism_msgs.msg import MechanismState
00054 
00055 MIN_MSGS        = 100
00056 TEST_TIMEOUT    = 100000000000.0
00057 
00058 class MyHzTest(unittest.TestCase):
00059     def __init__(self, *args):
00060         super(MyHzTest, self).__init__(*args)
00061         self.success = False
00062         self.count = 0
00063 
00064         #for time tracking
00065         self.started = False
00066         self.start_time = 0
00067         self.end_time = 0
00068 
00069     def Input(self, msg):
00070         self.count += 1;
00071 
00072         if not self.started:
00073           self.start_time = rospy.get_rostime().to_sec()
00074           print " got first message at: ",self.start_time, " sec"
00075           self.started = True
00076 
00077         if self.count >= MIN_MSGS:
00078           self.end_time = rospy.get_rostime().to_sec()
00079           print " passed minimum ",self.count," messages at ",self.count / (self.end_time - self.start_time), " Hz"
00080           self.success = True
00081         #else:
00082           #print " got ",self.count," messages at ",self.count / (rospy.get_rostime().to_sec() - self.start_time), " Hz"
00083 
00084     def test_hz(self):
00085         print "LNK\n"
00086         #rospy.Subscriber("/tf", tfMessage, self.Input)
00087         rospy.Subscriber("/mechanism_state", MechanismState, self.Input)
00088         rospy.init_node(NAME, anonymous=True)
00089         timeout_t = time.time() + TEST_TIMEOUT
00090         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
00091             time.sleep(1.0)
00092 
00093         self.assert_(self.success)
00094 
00095 if __name__ == '__main__':
00096     rostest.run(PKG, sys.argv[0], MyHzTest, sys.argv) #, text_mode=True)
00097 


pr2_gazebo
Author(s): John Hsu
autogenerated on Thu Jan 2 2014 11:45:25