exercise_bond.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Stuart Glaser
00030 
00031 import sys
00032 import threading
00033 import time
00034 import uuid
00035 
00036 PKG = 'test_bond'
00037 import roslib; roslib.load_manifest(PKG)
00038 import rospy
00039 from bondpy import bondpy
00040 from test_bond.srv import *
00041 
00042 import unittest
00043 import rostest
00044 
00045 import atexit
00046 atexit.register(rospy.signal_shutdown, 'exit')
00047 
00048 def gen_id():
00049     return "test_" + str(uuid.uuid4())
00050 TOPIC = "test_bond_topic"
00051 
00052 test_bond = rospy.ServiceProxy('test_bond', TestBond)
00053 
00054 class Exerciser(unittest.TestCase):
00055 
00056     # Bond formed, bond broken remotely
00057     def test_normal(self):
00058         id = gen_id()
00059         test_bond.wait_for_service()
00060         test_bond(id = id, topic = TOPIC, delay_death = rospy.Duration(2.0))
00061         rospy.logerr("test_normal: test_bond service call just returned")
00062         self.bond = bond = bondpy.Bond(TOPIC, id)
00063         bond.start()
00064         
00065         bond_start_time = time.time()
00066 
00067         formed = bond.wait_until_formed(rospy.Duration(2.0))
00068         if not formed:
00069             s = ''
00070             s += "BONDFAIL\n"
00071             s += "wait_until_formed returned %s\n" % formed
00072             s += "Bond details:\n"
00073             s += "  Started = %s\n" % bond._Bond__started
00074             s += "  sister_instance_id = %s\n" % bond.sister_instance_id
00075             s += "  is_shutdown = %s\n" % bond.is_shutdown
00076             s += "  num connections = %d\n" % bond.pub.get_num_connections()
00077 
00078             formed_later = bond.wait_until_formed(rospy.Duration(20.0))
00079             s += "Formed later: %s after %.3f seconds\n" % (formed_later, time.time() - bond_start_time)
00080 
00081             rospy.logerr(s)
00082             self.fail(s)
00083 
00084         #self.assertTrue(bond.wait_until_formed(rospy.Duration(2.0)))
00085         self.assertTrue(bond.wait_until_broken(rospy.Duration(5.0)))
00086 
00087     # Remote never connects
00088     def test_no_connect(self):
00089         id = gen_id()
00090         # Don't start the other side of the bond
00091         self.bond = bond = bondpy.Bond(TOPIC, id)
00092         bond.start()
00093         self.assertFalse(bond.wait_until_formed(rospy.Duration(1.0)))
00094         self.assertTrue(bond.wait_until_broken(rospy.Duration(20.0)))
00095 
00096     # Remote dies (but doesn't report it)
00097     def test_heartbeat_timeout(self):
00098         id = gen_id()
00099         test_bond.wait_for_service()
00100         test_bond(id=id, topic=TOPIC, delay_death=rospy.Duration(2.0), inhibit_death_message=True)
00101         self.bond = bond = bondpy.Bond(TOPIC, id)
00102         bond.start()
00103 
00104         self.assertTrue(bond.wait_until_formed(rospy.Duration(2.0)))
00105         self.assertTrue(bond.wait_until_broken(rospy.Duration(10.0)))
00106 
00107     # Local dies, remote acks normally
00108     def test_i_die(self):
00109         id = gen_id()
00110         test_bond.wait_for_service()
00111         test_bond(id = id, topic = TOPIC, delay_death = rospy.Duration(-1))
00112         self.bond = bond = bondpy.Bond(TOPIC, id)
00113         bond.start()
00114 
00115         self.assertTrue(bond.wait_until_formed(rospy.Duration(2.0)))
00116 
00117         bond.break_bond()
00118         self.assertTrue(bond.wait_until_broken(rospy.Duration(2.0)))
00119 
00120     # Local dies, remote goes silent
00121     def test_die_no_ack(self):
00122         id = gen_id()
00123         test_bond.wait_for_service()
00124         test_bond(id=id, topic=TOPIC, delay_death=rospy.Duration(-1), inhibit_death_message=True)
00125         self.bond = bond = bondpy.Bond(TOPIC, id)
00126         bond.start()
00127 
00128         self.assertTrue(bond.wait_until_formed(rospy.Duration(2.0)))
00129 
00130         bond.break_bond()
00131         self.assertTrue(bond.wait_until_broken(rospy.Duration(5.0)))
00132 
00133     # Local dies, remote stays alive
00134     def test_die_ignore_death(self):
00135         id = gen_id()
00136         test_bond.wait_for_service()
00137         test_bond(id=id, topic=TOPIC, delay_death=rospy.Duration(-1), inhibit_death=True)
00138         self.bond = bond = bondpy.Bond(TOPIC, id)
00139         bond.start()
00140 
00141         self.assertTrue(bond.wait_until_formed(rospy.Duration(2.0)))
00142 
00143         bond.break_bond()
00144         self.assertFalse(bond.wait_until_broken(rospy.Duration(1.0)))
00145         self.assertTrue(bond.wait_until_broken(rospy.Duration(10.0)))
00146 
00147     def setUp(self):
00148         self.bond = None
00149     def tearDown(self):
00150         if self.bond:
00151             self.bond.shutdown()
00152             self.bond = None
00153 
00154 
00155 def main():
00156     rospy.init_node('exercise_bondpy', anonymous=True, disable_signals=True)
00157     rostest.run(PKG, 'exercise_bondpy', Exerciser, sys.argv)
00158 
00159 if __name__ == '__main__': main()


test_bond
Author(s): Stuart Glaser
autogenerated on Sun Oct 5 2014 22:32:35