match_analyze_test.py
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00001 #!/usr/bin/env python
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00034 
00035 ##\author Kevin Watts
00036 
00037 ##\brief Tests that analyzer that matches item will not affect item going into Other
00038 
00039 from __future__ import with_statement
00040 
00041 DURATION = 10
00042 PKG = 'test_diagnostic_aggregator'
00043 import roslib; roslib.load_manifest(PKG)
00044 import rospy, rostest, unittest
00045 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
00046 from time import sleep
00047 import sys
00048 import threading
00049 
00050 from optparse import OptionParser
00051 
00052 MATCH_NAME = 'Match Item'
00053 
00054 def get_raw_name(agg_name):
00055     return agg_name.split('/')[-1]
00056 
00057 def get_header_name(agg_name):
00058     return '/'.join(agg_name.split('/')[1:-1])
00059 
00060 class TestMatchAnalyze(unittest.TestCase):
00061     def __init__(self, *args):
00062         super(TestMatchAnalyze, self).__init__(*args)
00063 
00064         parser = OptionParser(usage="usage ./%prog [options]", prog="match_analyze_test.py")
00065         parser.add_option('--header', action="store", default=None,
00066                           dest="header", metavar="HEADER",
00067                           help="Expected header that \"Match Item\" will be under")
00068         # Option comes with rostest, will fail w/o this line
00069         parser.add_option('--gtest_output', action="store",
00070                           dest="gtest")
00071 
00072         options, args = parser.parse_args(rospy.myargv())
00073 
00074         if not options.header:
00075             parser.error("Option --header is mandatory. Unable to parse args")
00076 
00077         self.header = options.header
00078 
00079         self._mutex = threading.Lock()
00080 
00081         self.match_headers = []
00082 
00083         rospy.init_node('test_match_analyze')
00084         self._starttime = rospy.get_time()
00085 
00086         sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
00087  
00088     def diag_agg_cb(self, msg):
00089         with self._mutex:
00090             for stat in msg.status:
00091                 if stat.name.find(MATCH_NAME) > 0:
00092                     if self.match_headers.count(get_header_name(stat.name)) == 0:
00093                         self.match_headers.append(get_header_name(stat.name))
00094 
00095     def test_match_analyze(self):
00096         while not rospy.is_shutdown():
00097             sleep(1.0)
00098             if rospy.get_time() - self._starttime > DURATION:
00099                 break
00100         
00101         self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
00102 
00103         with self._mutex:
00104             self.assert_(self.header, "Header is none. Option --header not given")
00105             self.assert_(len(self.match_headers) == 1, "Multiple analyzers reported our item! Headers: %s" % self.match_headers)
00106             self.assert_(self.match_headers.count(self.header) > 0, "Didn't have item under header \"%s\". Header: \"%s\"" % (self.header, self.match_headers[0]))
00107          
00108 
00109 if __name__ == '__main__':
00110     if False:
00111         suite = unittest.TestSuite()
00112         suite.addTest(TestMatchAnalyze('test_match_analyze'))
00113         unittest.TextTestRunner(verbosity = 2).run(suite)
00114     else:
00115         rostest.run(PKG, sys.argv[0], TestMatchAnalyze, sys.argv)


test_diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen , Kevin Watts
autogenerated on Fri Aug 28 2015 10:30:19