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  from rospkg.environment import ROS_TEST_RESULTS_DIR 
 49  import rosgraph.roslogging 
 50   
 51  from rostest.rostestutil import createXMLRunner, printRostestSummary, \ 
 52      xmlResultsFile, rostest_name_from_path 
 53  from rostest.rostest_parent import ROSTestLaunchParent 
 54   
 55  import rostest.runner 
 56   
 57  _NAME = 'rostest' 
 58   
 59 -def configure_logging(): 
 60      import socket 
 61      logfile_basename = 'rostest-%s-%s.log'%(socket.gethostname(), os.getpid()) 
 62      logfile_name = rosgraph.roslogging.configure_logging('rostest', filename=logfile_basename) 
 63      if logfile_name: 
 64          print("... logging to %s"%logfile_name) 
 65      return logfile_name 
 66   
 67 -def write_bad_filename_failure(test_file, results_file, outname): 
 68      # similar to rostest-check-results 
 69      results_file_dir = os.path.dirname(results_file) 
 70      if not os.path.isdir(results_file_dir): 
 71          os.makedirs(results_file_dir) 
 72      with open(results_file, 'w') as f: 
 73          d = {'test': outname, 'test_file': test_file } 
 74          f.write("""<?xml version="1.0" encoding="UTF-8"?> 
 75  <testsuite tests="1" failures="1" time="1" errors="0" name="%(test)s"> 
 76    <testcase name="test_ran" status="run" time="1" classname="Results"> 
 77      <failure message="rostest file [%(test_file)s] does not exist" type=""/> 
 78    </testcase> 
 79  </testsuite>"""%d) 
 80       
 81 -def rostestmain(): 
 82      import roslaunch.rlutil 
 83       
 84      from optparse import OptionParser 
 85      parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME) 
 86      parser.add_option("-t", "--text", 
 87                        action="store_true", dest="text_mode", default=False, 
 88                        help="Run with stdout output instead of XML output") 
 89      parser.add_option("--pkgdir", metavar="PKG_DIR", 
 90                        dest="pkg_dir", default=None, 
 91                        help="package dir") 
 92      parser.add_option("--package", metavar="PACKAGE", 
 93                        dest="package", default=None, 
 94                        help="package") 
 95      parser.add_option("--results-filename", metavar="RESULTS_FILENAME", 
 96                        dest="results_filename", default=None, 
 97                        help="results_filename") 
 98      parser.add_option("--results-base-dir", metavar="RESULTS_BASE_DIR", 
 99                        help="The base directory of the test results. The test result file is " + 
100                             "created in a subfolder name PKG_DIR.") 
101      parser.add_option("-r", "--reuse-master", action="store_true", 
102                        help="Connect to an existing ROS master instead of spawning a new ROS master on a custom port") 
103      parser.add_option("-c", "--clear", action="store_true", 
104                        help="Clear all parameters when connecting to an existing ROS master (only works with --reuse-master)") 
105      (options, args) = parser.parse_args() 
106   
107      if options.clear and not options.reuse_master: 
108          print("The --clear option is only valid with --reuse-master", file=sys.stderr) 
109          sys.exit(1) 
110   
111      try: 
112          args = roslaunch.rlutil.resolve_launch_arguments(args) 
113      except roslaunch.core.RLException as e: 
114          print(str(e), file=sys.stderr) 
115          sys.exit(1) 
116   
117      # make sure all loggers are configured properly 
118      logfile_name = configure_logging() 
119      logger = logging.getLogger('rostest') 
120      import roslaunch.core 
121      roslaunch.core.add_printlog_handler(logger.info) 
122      roslaunch.core.add_printerrlog_handler(logger.error)         
123           
124      logger.info('rostest starting with options %s, args %s'%(options, args)) 
125      if len(args) == 0: 
126          parser.error("You must supply a test file argument to rostest.") 
127      if len(args) != 1: 
128          parser.error("rostest only accepts a single test file") 
129   
130      # compute some common names we'll be using to generate test names and files 
131      test_file = args[0] 
132      if options.pkg_dir and options.package:   
133          # rosbuild2: the build system knows what package and directory, so let it tell us, 
134          # instead of shelling back out to rospack 
135          pkg_dir, pkg = options.pkg_dir, options.package 
136      else: 
137          pkg = rospkg.get_package_name(test_file) 
138          r = rospkg.RosPack() 
139          pkg_dir = r.get_path(pkg) 
140   
141      if options.results_filename: 
142          outname = options.results_filename 
143          if '.' in outname: 
144              outname = outname[:outname.rfind('.')] 
145      else: 
146          outname = rostest_name_from_path(pkg_dir, test_file) 
147   
148      env = None 
149      if options.results_base_dir: 
150          env = {ROS_TEST_RESULTS_DIR: options.results_base_dir} 
151   
152      # #1140 
153      if not os.path.isfile(test_file): 
154          results_file = xmlResultsFile(pkg, outname, True, env=env) 
155          write_bad_filename_failure(test_file, results_file, outname) 
156          parser.error("test file is invalid. Generated failure case result file in %s"%results_file) 
157           
158      try: 
159          testCase = rostest.runner.createUnitTest(pkg, test_file, options.reuse_master, options.clear, options.results_base_dir) 
160          suite = unittest.TestLoader().loadTestsFromTestCase(testCase) 
161   
162          if options.text_mode: 
163              rostest.runner.setTextMode(True) 
164              result = unittest.TextTestRunner(verbosity=2).run(suite) 
165          else: 
166              is_rostest = True 
167              results_file = xmlResultsFile(pkg, outname, is_rostest, env=env) 
168              xml_runner = createXMLRunner(pkg, outname, \ 
169                                               results_file=results_file, \ 
170                                               is_rostest=is_rostest) 
171              result = xml_runner.run(suite) 
172      finally: 
173          # really make sure that all of our processes have been killed 
174          test_parents = rostest.runner.getRostestParents() 
175          for r in test_parents: 
176              logger.info("finally rostest parent tearDown [%s]", r) 
177              r.tearDown() 
178          del test_parents[:] 
179          from roslaunch.pmon import pmon_shutdown 
180          logger.info("calling pmon_shutdown") 
181          pmon_shutdown() 
182          logger.info("... done calling pmon_shutdown") 
183   
184      # print config errors after test has run so that we don't get caught up in .xml results 
185      config = rostest.runner.getConfig() 
186      if config: 
187          if config.config_errors: 
188              print("\n[ROSTEST WARNINGS]"+'-'*62+'\n', file=sys.stderr) 
189          for err in config.config_errors: 
190              print(" * %s"%err, file=sys.stderr) 
191          print('') 
192   
193      # summary is worthless if textMode is on as we cannot scrape .xml results 
194      subtest_results = rostest.runner.getResults() 
195      if not options.text_mode: 
196          printRostestSummary(result, subtest_results) 
197      else: 
198          print("WARNING: overall test result is not accurate when --text is enabled") 
199   
200      if logfile_name: 
201          print("rostest log file is in %s"%logfile_name) 
202           
203      if not result.wasSuccessful(): 
204          sys.exit(1) 
205      elif subtest_results.num_errors or subtest_results.num_failures: 
206          sys.exit(2) 
207       
208  if __name__ == '__main__': 
209      rostestmain() 
210