rostest

1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2008, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 35 """ 36 Interface for using rostest from other Python code as well as running 37 Python unittests with additional reporting mechanisms and rosbuild 38 (CMake) integration. 39 """ 40 41 from __future__ import print_function 42 43 import sys 44 import rosunit 45 46 import rosgraph 47 48 XML_OUTPUT_FLAG = '--gtest_output=xml:' #use gtest-compatible flag 49 50 _GLOBAL_CALLER_ID = '/script'

51 #TODO: replace with rosgraph.masterapi 52 -def get_master():

53 """ 54 Get an XMLRPC handle to the Master. It is recommended to use the 55 `rosgraph.masterapi` library instead, as it provides many 56 conveniences. 57 58 @return: XML-RPC proxy to ROS master 59 @rtype: xmlrpclib.ServerProxy 60 """ 61 try: 62 import xmlrpc.client as xmlrpcclient #Python 3.x 63 except ImportError: 64 import xmlrpclib as xmlrpcclient #Python 2.x 65 uri = rosgraph.get_master_uri() 66 return xmlrpcclient.ServerProxy(uri)

67

68 -def is_subscriber(topic, subscriber_id):

69 """ 70 Check whether or not master think subscriber_id subscribes to topic 71 72 :returns: ``True`` if still register as a subscriber, ``bool`` 73 :raises: IOError If communication with master fails 74 """ 75 m = get_master() 76 code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 77 if code != 1: 78 raise IOError("Unable to retrieve master state: %s"%msg) 79 _, subscribers, _ = state 80 for t, l in subscribers: 81 if t == topic: 82 return subscriber_id in l 83 else: 84 return False

85

86 -def is_publisher(topic, publisher_id):

87 """ 88 Predicate to check whether or not master think publisher_id 89 publishes topic 90 :returns: ``True`` if still register as a publisher, ``bool`` 91 :raises: IOError If communication with master fails 92 """ 93 m = get_master() 94 code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 95 if code != 1: 96 raise IOError("Unable to retrieve master state: %s"%msg) 97 pubs, _, _ = state 98 for t, l in pubs: 99 if t == topic: 100 return publisher_id in l 101 else: 102 return False

103

104 -def rosrun(package, test_name, test, sysargs=None):

105 """ 106 Run a rostest/unittest-based integration test. 107 108 @param package: name of package that test is in 109 @type package: str 110 @param test_name: name of test that is being run 111 @type test_name: str 112 @param test: a test case instance or a name resolving to a test case or suite 113 @type test: unittest.TestCase, or string 114 @param sysargs: command-line args. If not specified, this defaults to sys.argv. rostest 115 will look for the --text and --gtest_output parameters 116 @type sysargs: list 117 """ 118 if sysargs is None: 119 # lazy-init sys args 120 import sys 121 sysargs = sys.argv 122 123 #parse sysargs 124 result_file = None 125 for arg in sysargs: 126 if arg.startswith(XML_OUTPUT_FLAG): 127 result_file = arg[len(XML_OUTPUT_FLAG):] 128 text_mode = '--text' in sysargs 129 coverage_mode = '--cov' in sysargs 130 if coverage_mode: 131 _start_coverage([package]) 132 133 import unittest 134 import rospy 135 136 suite = None 137 if isinstance(test, str): 138 suite = unittest.TestLoader().loadTestsFromName(test) 139 else: 140 # some callers pass a TestCase type (instead of an instance) 141 suite = unittest.TestLoader().loadTestsFromTestCase(test) 142 143 if text_mode: 144 result = unittest.TextTestRunner(verbosity=2).run(suite) 145 else: 146 result = rosunit.create_xml_runner(package, test_name, result_file).run(suite) 147 if coverage_mode: 148 _stop_coverage([package]) 149 rosunit.print_unittest_summary(result) 150 151 # shutdown any node resources in case test forgets to 152 rospy.signal_shutdown('test complete') 153 if not result.wasSuccessful(): 154 import sys 155 sys.exit(1)

156 157 # TODO: rename to rosrun -- migrating name to avoid confusion and enable easy xmlrunner use 158 run = rosrun 159 160 import warnings

161 -def deprecated(func):

162 """This is a decorator which can be used to mark functions 163 as deprecated. It will result in a warning being emmitted 164 when the function is used.""" 165 def newFunc(*args, **kwargs): 166 warnings.warn("Call to deprecated function %s." % func.__name__, 167 category=DeprecationWarning, stacklevel=2) 168 return func(*args, **kwargs)

169 newFunc.__name__ = func.__name__ 170 newFunc.__doc__ = func.__doc__ 171 newFunc.__dict__.update(func.__dict__) 172 return newFunc 173

174 @deprecated 175 -def unitrun(package, test_name, test, sysargs=None, coverage_packages=None):

176 """ 177 Wrapper routine from running python unitttests with 178 JUnit-compatible XML output. This is meant for unittests that do 179 not not need a running ROS graph (i.e. offline tests only). 180 181 This enables JUnit-compatible test reporting so that 182 test results can be reported to higher-level tools. 183 184 @param package: name of ROS package that is running the test 185 @type package: str 186 @param coverage_packages: list of Python package to compute coverage results for. Defaults to package 187 @type coverage_packages: [str] 188 """ 189 rosunit.unitrun(package, test_name, test, sysargs=sysargs, coverage_packages=coverage_packages)

190 191 # coverage instance 192 _cov = None

193 -def _start_coverage(packages):

194 global _cov 195 try: 196 import coverage 197 try: 198 _cov = coverage.coverage() 199 # load previous results as we need to accumulate 200 _cov.load() 201 _cov.start() 202 except coverage.CoverageException: 203 print("WARNING: you have an older version of python-coverage that is not support. Please update to the version provided by 'easy_install coverage'", file=sys.stderr) 204 except ImportError as e: 205 print("""WARNING: cannot import python-coverage, coverage tests will not run. 206 To install coverage, run 'easy_install coverage'""", file=sys.stderr) 207 try: 208 # reload the module to get coverage 209 for package in packages: 210 if package in sys.modules: 211 reload(sys.modules[package]) 212 except ImportError as e: 213 print("WARNING: cannot import '%s', will not generate coverage report"%package, file=sys.stderr) 214 return

215

216 -def _stop_coverage(packages, html=None):

217 """ 218 @param packages: list of packages to generate coverage reports for 219 @type packages: [str] 220 @param html: (optional) if not None, directory to generate html report to 221 @type html: str 222 """ 223 if _cov is None: 224 return 225 import sys, os 226 try: 227 _cov.stop() 228 # accumulate results 229 _cov.save() 230 231 # - update our own .coverage-modules file list for 232 # coverage-html tool. The reason we read and rewrite instead 233 # of append is that this does a uniqueness check to keep the 234 # file from growing unbounded 235 if os.path.exists('.coverage-modules'): 236 with open('.coverage-modules','r') as f: 237 all_packages = set([x for x in f.read().split('\n') if x.strip()] + packages) 238 else: 239 all_packages = set(packages) 240 with open('.coverage-modules','w') as f: 241 f.write('\n'.join(all_packages)+'\n') 242 243 try: 244 # list of all modules for html report 245 all_mods = [] 246 247 # iterate over packages to generate per-package console reports 248 for package in packages: 249 pkg = __import__(package) 250 m = [v for v in sys.modules.values() if v and v.__name__.startswith(package)] 251 all_mods.extend(m) 252 253 # generate overall report and per module analysis 254 _cov.report(m, show_missing=0) 255 for mod in m: 256 res = _cov.analysis(mod) 257 print("\n%s:\nMissing lines: %s"%(res[0], res[3])) 258 259 if html: 260 261 print("="*80+"\ngenerating html coverage report to %s\n"%html+"="*80) 262 _cov.html_report(all_mods, directory=html) 263 except ImportError as e: 264 print("WARNING: cannot import '%s', will not generate coverage report"%package, file=sys.stderr) 265 except ImportError as e: 266 print("""WARNING: cannot import python-coverage, coverage tests will not run. 267 To install coverage, run 'easy_install coverage'""", file=sys.stderr)

268

269 270 #502: backwards compatibility for unbuilt rostest packages 271 -def rostestmain():

272 #NOTE: this is importing from rostest.rostest 273 from rostest.rostest_main import rostestmain as _main 274 _main()

275

Source Code for Package rostest