Source Code for Module rostest.rostest_main

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 33  # Revision $Id$ 
 34   
 35  from __future__ import print_function 
 36   
 37  # NOTE: this has not survived the many refactorings and roslaunch changes well. There are too many ugly globals and bad 
 38  # code organizational choices at this point, but it's not a high priority to cleanup. 
 39   
 40  import os 
 41  import sys 
 42  import time 
 43  import unittest 
 44  import logging 
 45   
 46  import roslaunch 
 47  import rospkg 
 48  import rosgraph.roslogging 
 49   
 50  from rostest.rostestutil import createXMLRunner, printRostestSummary, \ 
 51      xmlResultsFile, rostest_name_from_path 
 52  from rostest.rostest_parent import ROSTestLaunchParent 
 53   
 54  import rostest.runner 
 55   
 56  _NAME = 'rostest' 
 57   
 58 -def configure_logging(): 
 59      import socket 
 60      logfile_basename = 'rostest-%s-%s.log'%(socket.gethostname(), os.getpid()) 
 61      logfile_name = rosgraph.roslogging.configure_logging('rostest', filename=logfile_basename) 
 62      if logfile_name: 
 63          print("... logging to %s"%logfile_name) 
 64      return logfile_name 
 65   
 66 -def write_bad_filename_failure(test_file, results_file, outname): 
 67      # similar to rostest-check-results 
 68      results_file_dir = os.path.dirname(results_file) 
 69      if not os.path.isdir(results_file_dir): 
 70          os.makedirs(results_file_dir) 
 71      with open(results_file, 'w') as f: 
 72          d = {'test': outname, 'test_file': test_file } 
 73          f.write("""<?xml version="1.0" encoding="UTF-8"?> 
 74  <testsuite tests="1" failures="1" time="1" errors="0" name="%(test)s"> 
 75    <testcase name="test_ran" status="run" time="1" classname="Results"> 
 76      <failure message="rostest file [%(test_file)s] does not exist" type=""/> 
 77    </testcase> 
 78  </testsuite>"""%d) 
 79       
 80 -def rostestmain(): 
 81      import roslaunch.rlutil 
 82       
 83      from optparse import OptionParser 
 84      parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME) 
 85      parser.add_option("-t", "--text", 
 86                        action="store_true", dest="text_mode", default=False, 
 87                        help="Run with stdout output instead of XML output") 
 88      parser.add_option("--pkgdir", metavar="PKG_DIR", 
 89                        dest="pkg_dir", default=None, 
 90                        help="package dir") 
 91      parser.add_option("--package", metavar="PACKAGE", 
 92                        dest="package", default=None, 
 93                        help="package") 
 94      (options, args) = parser.parse_args() 
 95      try: 
 96          args = roslaunch.rlutil.resolve_launch_arguments(args) 
 97      except roslaunch.core.RLException as e: 
 98          print(str(e), file=sys.stderr) 
 99          sys.exit(1) 
100   
101      # make sure all loggers are configured properly 
102      logfile_name = configure_logging() 
103      logger = logging.getLogger('rostest') 
104      import roslaunch.core 
105      roslaunch.core.add_printlog_handler(logger.info) 
106      roslaunch.core.add_printerrlog_handler(logger.error)         
107           
108      logger.info('rostest starting with options %s, args %s'%(options, args)) 
109      if len(args) == 0: 
110          parser.error("You must supply a test file argument to rostest.") 
111      if len(args) != 1: 
112          parser.error("rostest only accepts a single test file") 
113   
114      # compute some common names we'll be using to generate test names and files 
115      test_file = args[0] 
116      if options.pkg_dir and options.package:   
117          # rosbuild2: the build system knows what package and directory, so let it tell us, 
118          # instead of shelling back out to rospack 
119          pkg_dir, pkg = options.pkg_dir, options.package 
120      else: 
121          pkg = rospkg.get_package_name(test_file) 
122          r = rospkg.RosPack() 
123          pkg_dir = r.get_path(pkg) 
124   
125      outname = rostest_name_from_path(pkg_dir, test_file) 
126   
127      # #1140 
128      if not os.path.isfile(test_file): 
129          results_file = xmlResultsFile(pkg, outname, True) 
130          write_bad_filename_failure(test_file, results_file, outname) 
131          parser.error("test file is invalid. Generated failure case result file in %s"%results_file) 
132           
133      try: 
134          testCase = rostest.runner.createUnitTest(pkg, test_file) 
135          suite = unittest.TestLoader().loadTestsFromTestCase(testCase) 
136   
137          if options.text_mode: 
138              rostest.runner.setTextMode(True) 
139              result = unittest.TextTestRunner(verbosity=2).run(suite) 
140          else: 
141              is_rostest = True 
142              results_file = xmlResultsFile(pkg, outname, is_rostest)         
143              xml_runner = createXMLRunner(pkg, outname, \ 
144                                               results_file=results_file, \ 
145                                               is_rostest=is_rostest) 
146              result = xml_runner.run(suite) 
147      finally: 
148          # really make sure that all of our processes have been killed 
149          test_parents = rostest.runner.getRostestParents() 
150          for r in test_parents: 
151              logger.info("finally rostest parent tearDown [%s]", r) 
152              r.tearDown() 
153          del test_parents[:] 
154          from roslaunch.pmon import pmon_shutdown 
155          logger.info("calling pmon_shutdown") 
156          pmon_shutdown() 
157          logger.info("... done calling pmon_shutdown") 
158   
159      # print config errors after test has run so that we don't get caught up in .xml results 
160      config = rostest.runner.getConfig() 
161      if config: 
162          if config.config_errors: 
163              print("\n[ROSTEST WARNINGS]"+'-'*62+'\n', file=sys.stderr) 
164          for err in config.config_errors: 
165              print(" * %s"%err, file=sys.stderr) 
166          print('') 
167   
168      # summary is worthless if textMode is on as we cannot scrape .xml results 
169      subtest_results = rostest.runner.getResults() 
170      if not options.text_mode: 
171          printRostestSummary(result, subtest_results) 
172      else: 
173          print("WARNING: overall test result is not accurate when --text is enabled") 
174   
175      if logfile_name: 
176          print("rostest log file is in %s"%logfile_name) 
177           
178      if not result.wasSuccessful(): 
179          sys.exit(1) 
180      elif subtest_results.num_errors or subtest_results.num_failures: 
181          sys.exit(2) 
182       
183  if __name__ == '__main__': 
184      rostestmain() 
185