hrpsys: test-pkgconfig.py Source File

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00001 #!/usr/bin/env python
00002 
00003 PKG = 'hrpsys'
00004 NAME = 'test-pkgconfig'
00005 
00006 code = """
00007 #include <sys/types.h> /* iob.h need this */
00008 #include "hrpsys/io/iob.h"
00009 int main (int argc, char** argv)
00010 {
00011   open_iob();
00012   close_iob();
00013   return 0;
00014 }
00015 """
00016 import unittest, os, sys
00017 from subprocess import call, check_output, Popen, PIPE, STDOUT
00018 
00019 class TestHrpsysPkgconfig(unittest.TestCase):
00020     PKG_CONFIG_PATH = ''
00021 
00022     def setUp(self):
00023         # if rosbuild environment
00024         hrpsys_path = check_output(['rospack','find','hrpsys']).rstrip()
00025         openhrp3_path = check_output(['rospack','find','openhrp3']).rstrip()
00026         if os.path.exists(os.path.join(hrpsys_path, "bin")) :
00027             self.PKG_CONFIG_PATH='PKG_CONFIG_PATH=%s/lib/pkgconfig:%s/lib/pkgconfig:$PKG_CONFIG_PATH'%(hrpsys_path, openhrp3_path)
00028 
00029     def pkg_config_variable(self, var):
00030         return check_output("%s pkg-config hrpsys-base --variable=%s"%(self.PKG_CONFIG_PATH, var), shell=True).rstrip()
00031 
00032     def check_if_file_exists(self, var, fname):
00033         pkg_var = var
00034         pkg_dname = self.pkg_config_variable(pkg_var)
00035         pkg_path = os.path.join(pkg_dname, fname)
00036         pkg_ret = os.path.exists(pkg_path)
00037         self.assertTrue(pkg_ret, "pkg-config hrpsys --variable=%s`/%s (%s) returns %r"%(pkg_var, fname, pkg_path, pkg_ret))
00038 
00039 
00040     def check_if_file_exists_from_rospack(self, fname):
00041         pkg_dname = check_output(['rospack','find','hrpsys']).rstrip()
00042         pkg_path = os.path.join(pkg_dname, fname)
00043         pkg_ret = os.path.exists(pkg_path)
00044         self.assertTrue(pkg_ret, "`rospack find hrpsys`(%s) returns %r"%(pkg_path, pkg_ret))
00045 
00046     def test_files_for_hrpsys(self):
00047         # https://github.com/start-jsk/hrpsys/blob/master/test/test-pa10.test#L13
00048         self.check_if_file_exists_from_rospack("samples/PA10/")
00049         self.check_if_file_exists_from_rospack("samples/PA10/rtc.conf")
00050         self.check_if_file_exists_from_rospack("samples/PA10/RobotHardware.conf")
00051         self.check_if_file_exists_from_rospack("samples/PA10/PA10.conf")
00052 
00053     def test_files_for_hrpsys_ros_bridge(self):
00054         # https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/catkin.cmake#L50
00055         self.check_if_file_exists("idldir", "HRPDataTypes.idl")
00056 
00057     def test_compile_iob(self):
00058         global PID
00059         cmd = "%s pkg-config hrpsys-base --cflags --libs"%(self.PKG_CONFIG_PATH)
00060         print "`"+cmd+"` =",check_output(cmd, shell=True, stderr=STDOUT)
00061         ret = call("gcc -o hrpsys-sample-pkg-config /tmp/%d-hrpsys-sample.cpp `%s` -lhrpIo"%(PID,cmd), shell=True)
00062         self.assertTrue(ret==0)
00063 
00064     def test_idlfile(self):
00065         cmd = "%s pkg-config hrpsys-base --variable=idldir"%(self.PKG_CONFIG_PATH)
00066         print "`"+cmd+"`/RobotHardwareService.idl = ",os.path.join(check_output(cmd, shell=True, stderr=STDOUT).rstrip(), "RobotHardwareService.idl")
00067         self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), "RobotHardwareService.idl")))
00068 
00069 #unittest.main()
00070 if __name__ == '__main__':
00071     import rostest
00072     global PID
00073     PID = os.getpid()
00074     f = open("/tmp/%d-hrpsys-sample.cpp"%(PID),'w')
00075     f.write(code)
00076     f.close()
00077     rostest.run(PKG, NAME, TestHrpsysPkgconfig, sys.argv)