Source Code for Module rostest.rostest_parent

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 33  # Revision $Id$ 
 34   
 35  import logging 
 36  import sys 
 37   
 38  import rosgraph 
 39  import roslaunch.config 
 40  from roslaunch.core import printlog_bold, RLException 
 41  import roslaunch.launch 
 42  import roslaunch.pmon 
 43  import roslaunch.server 
 44  import roslaunch.xmlloader  
 45   
 46  import roslaunch.parent 
 47   
 48  from rosmaster.master import Master 
 49  from rospy import logwarn 
 50   
 51 -class ROSTestLaunchParent(roslaunch.parent.ROSLaunchParent): 
 52   
 53 -    def __init__(self, config, roslaunch_files, port=0, reuse_master=False, clear=False): 
 54          if config is None: 
 55              raise Exception("config not initialized") 
 56          # we generate a run_id for each test 
 57          if reuse_master: 
 58              param_server = rosgraph.Master('/roslaunch') 
 59              try: 
 60                  run_id = param_server.getParam('/run_id') 
 61              except Exception as e: 
 62                  # The user asked us to connect to an existing ROS master, and 
 63                  # we can't. Throw an exception and die 
 64                  raise Exception("Could not connect to existing ROS master. " 
 65                                  + "Original exception was: %s" % str(e)) 
 66              except: 
 67                  # oh boy; we got something that wasn't an exception. 
 68                  # Throw an exception and die 
 69                  raise Exception("Could not connect to existing ROS master.") 
 70   
 71              if clear: 
 72                  params = param_server.getParamNames() 
 73                  # whitelist of parameters to keep 
 74                  whitelist = ['/run_id', '/rosversion', '/rosdistro'] 
 75                  for i in reversed(range(len(params))): 
 76                      param = params[i] 
 77                      if param in whitelist: 
 78                          del params[i] 
 79                      elif param.startswith('/roslaunch/'): 
 80                          del params[i] 
 81                  for param in params: 
 82                      param_server.deleteParam(param) 
 83          else: 
 84              run_id = roslaunch.core.generate_run_id() 
 85          super(ROSTestLaunchParent, self).__init__(run_id, roslaunch_files, is_core=False, is_rostest=True) 
 86          self.config = config 
 87          self.port = port 
 88          self.reuse_master = reuse_master 
 89          self.master = None 
 90           
 91 -    def _load_config(self): 
 92          # disable super, just in case, though this shouldn't get called 
 93          pass 
 94   
 95 -    def setUp(self): 
 96          """ 
 97          initializes self.config and xmlrpc infrastructure 
 98          """ 
 99          self._start_infrastructure() 
100          if not self.reuse_master: 
101              self.master = Master(port=self.port) 
102              self.master.start() 
103              self.config.master.uri = self.master.uri 
104          self._init_runner() 
105   
106 -    def tearDown(self): 
107          if self.runner is not None: 
108              runner = self.runner 
109              runner.stop() 
110          if self.master is not None: 
111              self.master.stop() 
112              self.master = None 
113          self._stop_infrastructure() 
114   
115 -    def launch(self): 
116          """ 
117          perform launch of nodes, does not launch tests.  rostest_parent 
118          follows a different pattern of init/run than the normal 
119          roslaunch, which is why it does not reuse start()/spin() 
120          """ 
121          if self.runner is not None: 
122              return self.runner.launch() 
123          else: 
124              raise Exception("no runner to launch") 
125   
126 -    def run_test(self, test): 
127          """ 
128          run the test, blocks until completion  
129          """ 
130          if self.runner is not None: 
131              # run the test, blocks until completion             
132              return self.runner.run_test(test) 
133          else: 
134              raise Exception("no runner") 
135