Source Code for Module rostest.rostest_main

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 33  # Revision $Id$ 
 34   
 35  from __future__ import print_function 
 36   
 37  # NOTE: this has not survived the many refactorings and roslaunch changes well. There are too many ugly globals and bad 
 38  # code organizational choices at this point, but it's not a high priority to cleanup. 
 39   
 40  import os 
 41  import sys 
 42  import time 
 43  import unittest 
 44  import logging 
 45   
 46  import roslaunch 
 47  import rospkg 
 48  import rosgraph.roslogging 
 49   
 50  from rostest.rostestutil import createXMLRunner, printRostestSummary, \ 
 51      xmlResultsFile, rostest_name_from_path 
 52  from rostest.rostest_parent import ROSTestLaunchParent 
 53   
 54  import rostest.runner 
 55   
 56  _NAME = 'rostest' 
 57   
 58 -def configure_logging(): 
 59      import socket 
 60      logfile_basename = 'rostest-%s-%s.log'%(socket.gethostname(), os.getpid()) 
 61      logfile_name = rosgraph.roslogging.configure_logging('rostest', filename=logfile_basename) 
 62      if logfile_name: 
 63          print("... logging to %s"%logfile_name) 
 64      return logfile_name 
 65   
 66 -def write_bad_filename_failure(test_file, results_file, outname): 
 67      # similar to rostest-check-results 
 68      results_file_dir = os.path.dirname(results_file) 
 69      if not os.path.isdir(results_file_dir): 
 70          os.makedirs(results_file_dir) 
 71      with open(results_file, 'w') as f: 
 72          d = {'test': outname, 'test_file': test_file } 
 73          f.write("""<?xml version="1.0" encoding="UTF-8"?> 
 74  <testsuite tests="1" failures="1" time="1" errors="0" name="%(test)s"> 
 75    <testcase name="test_ran" status="run" time="1" classname="Results"> 
 76      <failure message="rostest file [%(test_file)s] does not exist" type=""/> 
 77    </testcase> 
 78  </testsuite>"""%d) 
 79       
 80 -def rostestmain(): 
 81      import roslaunch.rlutil 
 82       
 83      from optparse import OptionParser 
 84      parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME) 
 85      parser.add_option("-t", "--text", 
 86                        action="store_true", dest="text_mode", default=False, 
 87                        help="Run with stdout output instead of XML output") 
 88      parser.add_option("--pkgdir", metavar="PKG_DIR", 
 89                        dest="pkg_dir", default=None, 
 90                        help="package dir") 
 91      parser.add_option("--package", metavar="PACKAGE", 
 92                        dest="package", default=None, 
 93                        help="package") 
 94      parser.add_option("--results-filename", metavar="RESULTS_FILENAME", 
 95                        dest="results_filename", default=None, 
 96                        help="results_filename") 
 97      (options, args) = parser.parse_args() 
 98      try: 
 99          args = roslaunch.rlutil.resolve_launch_arguments(args) 
100      except roslaunch.core.RLException as e: 
101          print(str(e), file=sys.stderr) 
102          sys.exit(1) 
103   
104      # make sure all loggers are configured properly 
105      logfile_name = configure_logging() 
106      logger = logging.getLogger('rostest') 
107      import roslaunch.core 
108      roslaunch.core.add_printlog_handler(logger.info) 
109      roslaunch.core.add_printerrlog_handler(logger.error)         
110           
111      logger.info('rostest starting with options %s, args %s'%(options, args)) 
112      if len(args) == 0: 
113          parser.error("You must supply a test file argument to rostest.") 
114      if len(args) != 1: 
115          parser.error("rostest only accepts a single test file") 
116   
117      # compute some common names we'll be using to generate test names and files 
118      test_file = args[0] 
119      if options.pkg_dir and options.package:   
120          # rosbuild2: the build system knows what package and directory, so let it tell us, 
121          # instead of shelling back out to rospack 
122          pkg_dir, pkg = options.pkg_dir, options.package 
123      else: 
124          pkg = rospkg.get_package_name(test_file) 
125          r = rospkg.RosPack() 
126          pkg_dir = r.get_path(pkg) 
127   
128      if options.results_filename: 
129          outname = options.results_filename 
130          if '.' in outname: 
131              outname = outname[:outname.rfind('.')] 
132      else: 
133          outname = rostest_name_from_path(pkg_dir, test_file) 
134   
135      # #1140 
136      if not os.path.isfile(test_file): 
137          results_file = xmlResultsFile(pkg, outname, True) 
138          write_bad_filename_failure(test_file, results_file, outname) 
139          parser.error("test file is invalid. Generated failure case result file in %s"%results_file) 
140           
141      try: 
142          testCase = rostest.runner.createUnitTest(pkg, test_file) 
143          suite = unittest.TestLoader().loadTestsFromTestCase(testCase) 
144   
145          if options.text_mode: 
146              rostest.runner.setTextMode(True) 
147              result = unittest.TextTestRunner(verbosity=2).run(suite) 
148          else: 
149              is_rostest = True 
150              results_file = xmlResultsFile(pkg, outname, is_rostest)         
151              xml_runner = createXMLRunner(pkg, outname, \ 
152                                               results_file=results_file, \ 
153                                               is_rostest=is_rostest) 
154              result = xml_runner.run(suite) 
155      finally: 
156          # really make sure that all of our processes have been killed 
157          test_parents = rostest.runner.getRostestParents() 
158          for r in test_parents: 
159              logger.info("finally rostest parent tearDown [%s]", r) 
160              r.tearDown() 
161          del test_parents[:] 
162          from roslaunch.pmon import pmon_shutdown 
163          logger.info("calling pmon_shutdown") 
164          pmon_shutdown() 
165          logger.info("... done calling pmon_shutdown") 
166   
167      # print config errors after test has run so that we don't get caught up in .xml results 
168      config = rostest.runner.getConfig() 
169      if config: 
170          if config.config_errors: 
171              print("\n[ROSTEST WARNINGS]"+'-'*62+'\n', file=sys.stderr) 
172          for err in config.config_errors: 
173              print(" * %s"%err, file=sys.stderr) 
174          print('') 
175   
176      # summary is worthless if textMode is on as we cannot scrape .xml results 
177      subtest_results = rostest.runner.getResults() 
178      if not options.text_mode: 
179          printRostestSummary(result, subtest_results) 
180      else: 
181          print("WARNING: overall test result is not accurate when --text is enabled") 
182   
183      if logfile_name: 
184          print("rostest log file is in %s"%logfile_name) 
185           
186      if not result.wasSuccessful(): 
187          sys.exit(1) 
188      elif subtest_results.num_errors or subtest_results.num_failures: 
189          sys.exit(2) 
190       
191  if __name__ == '__main__': 
192      rostestmain() 
193