test_caller.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('qualification')

import sys
import rospy
from pr2_self_test_msgs.srv import *
import subprocess
import select
import fcntl
import os

def make_nonblock(file):
    fd = file.fileno()
    fl = fcntl.fcntl(fd, fcntl.F_GETFL)
    fcntl.fcntl(fd, fcntl.F_SETFL, fl | os.O_NONBLOCK)

if __name__ == '__main__':
    rospy.init_node("test_caller", anonymous=True)
    args = rospy.myargv()

    r = TestResultRequest()
    r.plots = []
    
    try:
        if len(args) < 3:
            raise Exception('Usage: ./test_caller.py <program> <args>')
        
        if not rospy.is_shutdown():
            rospy.sleep(rospy.Duration(rospy.get_param("~pre_delay", 0)))

        popen_args = args[1:]
        
        p = subprocess.Popen(popen_args, stdout=subprocess.PIPE, stderr=subprocess.PIPE)

        fdmap = {p.stdout:sys.stdout, p.stderr:sys.stderr}
        output = ""
        for fd in fdmap.iterkeys():
            make_nonblock(fd)
        while fdmap and not rospy.is_shutdown():
            fdl = select.select(fdmap.keys(), [], [])
            for fd in fdl[0]:
                read = fd.read()
                if read:
                    fdmap[fd].write(read)
                else:
                    del fdmap[fd]
                output += read
    except Exception, e:
        r.text_summary = "Failed with exception in test_caller.py"
        r.result = TestResultRequest.RESULT_FAIL
        r.html_result = "<p>Test Failed with exception.</p><p>%s</p>"%str(e)
        output = str(e)
    else:
        p.wait()
        retcode = p.returncode

        rospy.sleep(rospy.Duration(rospy.get_param("~post_delay", 0)))
        
        output = output.replace('\n','<br>')
    
        if not p.returncode:
            r.text_summary = "Successful completion of %s"%args[0]
            r.html_result = "<p>Test passed.</p><p>"+output+"</p>" 
            r.result = TestResultRequest.RESULT_PASS
            print "pass"
        else:
            r.text_summary = "Completion of %s with error code %i."%(args[0], retcode)
            r.result = TestResultRequest.RESULT_FAIL
            r.html_result = "<p>Test Failed.</p><p>"+output+"</p>"
            print "fail"
    finally:
        try:
            p.kill()
        except OSError, e:
            if e.errno != 3:
                raise
    
    result_service = rospy.ServiceProxy('test_result', TestResult)
    rospy.wait_for_service('test_result')
    result_service.call(r)