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00039 from __future__ import with_statement
00040 DURATION = 10
00041 PKG = 'diagnostic_aggregator'
00042 import roslib; roslib.load_manifest(PKG)
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 MULTI_NAME = 'multi'
00050 HEADER1 = 'Header1'
00051 HEADER2 = 'Header2'
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 DiagnosticItem:
00060 def __init__(self, msg):
00061 self.name = get_raw_name(msg.name)
00062 self.header = get_header_name(msg.name)
00063 self.level = msg.level
00064 self.message = msg.message
00065
00066 self.update_time = rospy.get_time()
00067
00068 def is_stale(self):
00069 return rospy.get_time() - self.update_time > 5
00070
00071 def update(self, msg):
00072 self.level = msg.level
00073 self.message = msg.message
00074
00075 self.update_time = rospy.get_time()
00076
00077 class TestMultipleMatch(unittest.TestCase):
00078 def __init__(self, *args):
00079 super(TestMultipleMatch, self).__init__(*args)
00080
00081 self._mutex = threading.Lock()
00082
00083 self._multi_items = {}
00084
00085 rospy.init_node('test_multiple_match')
00086 self._starttime = rospy.get_time()
00087
00088 sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
00089
00090 def diag_agg_cb(self, msg):
00091 with self._mutex:
00092 for stat in msg.status:
00093 if stat.name.find(MULTI_NAME) > 0:
00094 self._multi_items[get_header_name(stat.name)] = DiagnosticItem(stat)
00095
00096 def test_multiple_match(self):
00097 while not rospy.is_shutdown():
00098 sleep(1.0)
00099 if rospy.get_time() - self._starttime > DURATION:
00100 break
00101
00102 self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
00103
00104 with self._mutex:
00105 self.assert_(self._multi_items.has_key(HEADER1), "Didn't have item under %s. Items: %s" % (HEADER1, self._multi_items))
00106 self.assert_(self._multi_items[HEADER1].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER1, MULTI_NAME))
00107
00108 self.assert_(self._multi_items.has_key(HEADER2), "Didn't have item under %s" % HEADER2)
00109 self.assert_(self._multi_items[HEADER2].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER2, MULTI_NAME))
00110
00111
00112 if __name__ == '__main__':
00113 if False:
00114 suite = unittest.TestSuite()
00115 suite.addTest(TestMultipleMatch('test_multiple_match'))
00116 unittest.TextTestRunner(verbosity = 2).run(suite)
00117 else:
00118 rostest.run(PKG, sys.argv[0], TestMultipleMatch, sys.argv)