camera_stale_test.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Tests that test monitor latches error state

"""
This tests that a CameraListener will report stale after 15 seconds of not receiving any data.
"""

from __future__ import with_statement

PKG = 'pr2_hardware_test_monitor'
import roslib; roslib.load_manifest(PKG)

import unittest
import rospy, rostest
from time import sleep
import sys

from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
from pr2_self_test_msgs.msg import TestStatus
from std_msgs.msg import Bool
import std_msgs.msg
from std_srvs.srv import *
import threading

GRACE_TIME = 35 # 30 + 5 seconds for HW monitor to be ready

def _camera_diag(level = 0):
    array = DiagnosticArray()
    stat = DiagnosticStatus()
    stat.name = 'wge100: Driver Status'
    stat.level = level
    stat.message = 'OK'

    array.header.stamp = rospy.get_rostime()
    array.status.append(stat)
    
    return array

class TestCameraWarn(unittest.TestCase):
    def __init__(self, *args):
        super(TestCameraWarn, self).__init__(*args)

        self._mutex = threading.Lock()
        rospy.init_node('test_monitor_latch_test')
        self._ignore_time = 5
        self._start_time = rospy.get_time()
        self._ok = True
        self._level = 0

        self._start = rospy.get_time()
        self._last_msg = None
        self._max_lvl = -1

        self._halted = False

        self._snapped = False
        self._snapshot_sub = rospy.Subscriber('snapshot_trigger', std_msgs.msg.Empty, self._snap_cb)

        self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)

        rospy.Subscriber('test_status', TestStatus, self._cb)

    def _snap_cb(self, msg):
        self._snapped = True

    def _cb(self, msg):
        with self._mutex:
            if not self._last_msg:
                self._start = rospy.get_time()

            self._last_msg = msg

            if rospy.get_time() - self._start_time > self._ignore_time:
                self._max_lvl = max(msg.test_ok, self._max_lvl)


    def test_cam_stale(self):
        while not rospy.is_shutdown():
            self._diag_pub.publish(_camera_diag())
            sleep(1.0)
            if rospy.get_time() - self._start > GRACE_TIME:
                break

        # Stop publishing, see if we're stale
        for i in range(0, 15):
            sleep(1.0)

        with self._mutex:
            self.assert_(not rospy.is_shutdown(), "Rospy shutdown")

            self.assert_(self._last_msg is not None, "No data from test monitor")
            
            # Check that message level is error state
            self.assert_(self._last_msg.test_ok != TestStatus.RUNNING, "Test monitor reports that we're running. Level: %d" % self._last_msg.test_ok)

            # Check that we went into warning state
            self.assert_(self._max_lvl == TestStatus.STALE, "We didn't get stale message from the camera listener. Max level: %d" % self._max_lvl)

            # Check that snapshot trigger was called
            self.assert_(self._snapped, "Snapshot trigger was called, but we didn't halt")

if __name__ == '__main__':
    if len(sys.argv) > 1 and sys.argv[1] == '-v':
        suite = unittest.TestSuite()
        suite.addTest(TestCameraWarn('test_cam_warn'))

        unittest.TextTestRunner(verbosity=2).run(suite)
    else:
        rostest.run(PKG, sys.argv[0], TestCameraWarn, sys.argv)