match_analyze_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 matches item will not affect item going into Other
00038 
00039 from __future__ import with_statement
00040 
00041 DURATION = 10
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 MATCH_NAME = 'Match Item'
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 TestMatchAnalyze(unittest.TestCase):
00060     def __init__(self, *args):
00061         super(TestMatchAnalyze, self).__init__(*args)
00062 
00063         parser = OptionParser(usage="usage ./%prog [options]", prog="match_analyze_test.py")
00064         parser.add_option('--header', action="store", default=None,
00065                           dest="header", metavar="HEADER",
00066                           help="Expected header that \"Match Item\" will be under")
00067         # Option comes with rostest, will fail w/o this line
00068         parser.add_option('--gtest_output', action="store",
00069                           dest="gtest")
00070 
00071         options, args = parser.parse_args(rospy.myargv())
00072 
00073         if not options.header:
00074             parser.error("Option --header is mandatory. Unable to parse args")
00075 
00076         self.header = options.header
00077 
00078         self._mutex = threading.Lock()
00079 
00080         self.match_headers = []
00081 
00082         rospy.init_node('test_match_analyze')
00083         self._starttime = rospy.get_time()
00084 
00085         sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
00086  
00087     def diag_agg_cb(self, msg):
00088         with self._mutex:
00089             for stat in msg.status:
00090                 if stat.name.find(MATCH_NAME) > 0:
00091                     if self.match_headers.count(get_header_name(stat.name)) == 0:
00092                         self.match_headers.append(get_header_name(stat.name))
00093 
00094     def test_match_analyze(self):
00095         while not rospy.is_shutdown():
00096             sleep(1.0)
00097             if rospy.get_time() - self._starttime > DURATION:
00098                 break
00099         
00100         self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
00101 
00102         with self._mutex:
00103             self.assert_(self.header, "Header is none. Option --header not given")
00104             self.assert_(len(self.match_headers) == 1, "Multiple analyzers reported our item! Headers: %s" % self.match_headers)
00105             self.assert_(self.match_headers.count(self.header) > 0, "Didn't have item under header \"%s\". Header: \"%s\"" % (self.header, self.match_headers[0]))
00106          
00107 
00108 if __name__ == '__main__':
00109     if False:
00110         suite = unittest.TestSuite()
00111         suite.addTest(TestMatchAnalyze('test_match_analyze'))
00112         unittest.TextTestRunner(verbosity = 2).run(suite)
00113     else:
00114         rostest.run(PKG, sys.argv[0], TestMatchAnalyze, sys.argv)


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