monitor_listen_test.py

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#!/usr/bin/env python
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##\author Kevin Watts

##\brief Tests receipt of test monitor messages from life tests

from __future__ import with_statement

DURATION = 20

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

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

from pr2_self_test_msgs.msg import TestStatus
import threading

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

        parser = OptionParser(usage="usage ./%prog [options]", 
                              prog="monitor_listen_test.py")
        # Option comes with rostest, will fail w/o this line
        parser.add_option('--gtest_output', action="store",
                          dest="gtest")

        self._mutex = threading.Lock()
        rospy.init_node('test_monitor_listener')
        self._ignore_time = 5
        self._start_time = rospy.get_time()
        self._ok = True
        self._message = None
        self._level = 0

        self._start = rospy.get_time()

        options, args = parser.parse_args(rospy.myargv())

        rospy.Subscriber('test_status', TestStatus, self.cb)
    
    def cb(self, msg):
        if rospy.get_time() - self._start_time < self._ignore_time:
            return

        with self._mutex:
            self._ok = self._ok and (msg.test_ok == 0)
            if self._ok or (not self._ok and msg.test_ok != 0):
                self._message = msg.message
                self._level = msg.test_ok

    def test_monitor(self):
        while not rospy.is_shutdown():
            sleep(1.0)
            if rospy.get_time() - self._start > DURATION:
                break

        with self._mutex:
            self.assert_(not rospy.is_shutdown(), "Rospy shutdown")
            self.assert_(self._message is not None, "No data from test monitor")
            self.assert_(self._ok, "Test Monitor reports error. Level: %d, Message: %s" % (self._level, self._message))


if __name__ == '__main__':
    print 'SYS ARGS:', sys.argv
    rostest.run(PKG, sys.argv[0], TestMonitorUnit, sys.argv)