multiple_match_test.py
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00001 #!/usr/bin/env python
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00034 
00035 ##\author Kevin Watts
00036 
00037 ##\brief Tests that two analyzers can match and analyze a single item
00038 
00039 from __future__ import with_statement
00040 DURATION = 10
00041 PKG = 'diagnostic_aggregator'
00042 import roslib; roslib.load_manifest(PKG)
00043 import rospy, rostest, unittest
00044 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
00045 from time import sleep
00046 import sys
00047 import threading
00048 
00049 MULTI_NAME = 'multi'
00050 HEADER1 = 'Header1'
00051 HEADER2 = 'Header2'
00052 
00053 def get_raw_name(agg_name):
00054     return agg_name.split('/')[-1]
00055 
00056 def get_header_name(agg_name):
00057     return '/'.join(agg_name.split('/')[1:-1])
00058 
00059 class DiagnosticItem:
00060     def __init__(self, msg):
00061         self.name = get_raw_name(msg.name)
00062         self.header = get_header_name(msg.name)
00063         self.level = msg.level
00064         self.message = msg.message
00065 
00066         self.update_time = rospy.get_time()
00067 
00068     def is_stale(self):
00069         return rospy.get_time() - self.update_time > 5
00070 
00071     def update(self, msg):
00072         self.level = msg.level
00073         self.message = msg.message
00074 
00075         self.update_time = rospy.get_time()
00076 
00077 class TestMultipleMatch(unittest.TestCase):
00078     def __init__(self, *args):
00079         super(TestMultipleMatch, self).__init__(*args)
00080 
00081         self._mutex = threading.Lock()
00082 
00083         self._multi_items = {}
00084 
00085         rospy.init_node('test_multiple_match')
00086         self._starttime = rospy.get_time()
00087 
00088         sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
00089  
00090     def diag_agg_cb(self, msg):
00091         with self._mutex:
00092             for stat in msg.status:
00093                 if stat.name.find(MULTI_NAME) > 0:
00094                     self._multi_items[get_header_name(stat.name)] = DiagnosticItem(stat)
00095 
00096     def test_multiple_match(self):
00097         while not rospy.is_shutdown():
00098             sleep(1.0)
00099             if rospy.get_time() - self._starttime > DURATION:
00100                 break
00101         
00102         self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
00103 
00104         with self._mutex:
00105             self.assert_(self._multi_items.has_key(HEADER1), "Didn't have item under %s. Items: %s" % (HEADER1, self._multi_items))
00106             self.assert_(self._multi_items[HEADER1].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER1, MULTI_NAME))
00107 
00108             self.assert_(self._multi_items.has_key(HEADER2), "Didn't have item under %s" % HEADER2)
00109             self.assert_(self._multi_items[HEADER2].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER2, MULTI_NAME))
00110          
00111 
00112 if __name__ == '__main__':
00113     if False:
00114         suite = unittest.TestSuite()
00115         suite.addTest(TestMultipleMatch('test_multiple_match'))
00116         unittest.TextTestRunner(verbosity = 2).run(suite)
00117     else:
00118         rostest.run(PKG, sys.argv[0], TestMultipleMatch, sys.argv)


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Tue Mar 26 2019 03:09:37