fail_init_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 analyzer that fails to load will produce diagnostic error
00038 
00039 from __future__ import with_statement
00040 
00041 DURATION = 5
00042 PKG = 'test_diagnostic_aggregator'
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 from optparse import OptionParser
00050 
00051 
00052 def get_raw_name(agg_name):
00053     return agg_name.split('/')[-1]
00054 
00055 def get_header_name(agg_name):
00056     return '/'.join(agg_name.split('/')[1:-1])
00057 
00058 class TestFailInit(unittest.TestCase):
00059     def __init__(self, *args):
00060         super(TestFailInit, self).__init__(*args)
00061 
00062         parser = OptionParser(usage="usage ./%prog [options]", prog="fail_init_test.py")
00063         parser.add_option('--ns', action="store", default=None,
00064                           dest="ns", metavar="NAMESPACE",
00065                           help="Expected namespace that analyzer will fail in")
00066         # Option comes with rostest, will fail w/o this line
00067         parser.add_option('--gtest_output', action="store",
00068                           dest="gtest")
00069 
00070         options, args = parser.parse_args(rospy.myargv())
00071 
00072         if not options.ns:
00073             parser.error("Option --ns is mandatory. Unable to parse args")
00074 
00075         self._ns = options.ns
00076         self._item = None
00077 
00078         self._mutex = threading.Lock()
00079 
00080 
00081         rospy.init_node('test_fail_init')
00082         self._starttime = rospy.get_time()
00083 
00084         sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
00085         
00086     def diag_agg_cb(self, msg):
00087         with self._mutex:
00088             for stat in msg.status:
00089                 if stat.name.find(self._ns) > 0:
00090                     self._item = stat
00091                     break
00092 
00093     def test_fail_init(self):
00094         while not rospy.is_shutdown():
00095             sleep(1.0)
00096             if rospy.get_time() - self._starttime > DURATION:
00097                 break
00098         
00099         self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
00100 
00101         with self._mutex:
00102             self.assert_(self._ns, "Namespace is none. Option --ns not given")
00103             self.assert_(self._item, "No item with name %s found in diag_agg" % self._ns)
00104             self.assert_(self._item.level == 3, "Item failed to initialize, but was not stale. Level: %d" % self._item.level)
00105             
00106             
00107 if __name__ == '__main__':
00108     if False:
00109         suite = unittest.TestSuite()
00110         suite.addTest(TestFailInit('test_fail_init'))
00111         unittest.TextTestRunner(verbosity = 2).run(suite)
00112     else:
00113         rostest.run(PKG, sys.argv[0], TestFailInit, sys.argv)


test_diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen , Kevin Watts
autogenerated on Tue Mar 26 2019 03:09:55