Source Code for Module rostest.baretest

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 33  # Revision $Id: launch.py 8960 2010-04-07 23:54:50Z kwc $ 
 34   
 35  """ 
 36  rostest implementation of running bare (gtest-compatible) unit test 
 37  executables. These do not run in a ROS environment. 
 38  """ 
 39   
 40  import os 
 41  import unittest 
 42  import time 
 43   
 44  import roslib.packages 
 45   
 46  import roslaunch.pmon 
 47   
 48  from rostest.rostestutil import createXMLRunner, printSummary, printRostestSummary, \ 
 49      xmlResultsFile, rostest_name_from_path, printlog, printlogerr 
 50  import rostest.xmlresults 
 51   
 52  BARE_TIME_LIMIT = 60. 
 53   
 54 -class BareTestCase(unittest.TestCase): 
 55   
 56 -    def __init__(self, exe, args, results, retry=0, time_limit=None, test_name=None): 
 57          """ 
 58          @param exe: path to executable to run 
 59          @type  exe: str 
 60          @param args: arguments to exe 
 61          @type  args: [str] 
 62          @param results: test results accumulator 
 63          @param retry: (optional) number of retries for test 
 64          @type  retry: int 
 65          @param time_limit: (optional) time limit for test. Defaults to BARE_TIME_LIMIT. 
 66          @type  time_limit: float 
 67          @param test_name: (optional) override automatically geneated test name 
 68          @type  test_name: str 
 69          """ 
 70          super(BareTestCase, self).__init__() 
 71          self.results = results 
 72          _, self.package = roslib.packages.get_dir_pkg(exe) 
 73          self.exe = exe 
 74          if test_name is None: 
 75              self.test_name = os.path.basename(exe) 
 76          else: 
 77              self.test_name = test_name 
 78   
 79          self.args = [self.exe] + args 
 80          self.retry = retry 
 81          self.time_limit = time_limit or BARE_TIME_LIMIT 
 82          self.pmon = None 
 83           
 84 -    def setUp(self): 
 85          self.pmon = roslaunch.pmon.start_process_monitor() 
 86           
 87 -    def tearDown(self): 
 88          if self.pmon is not None: 
 89              roslaunch.pmon.shutdown_process_monitor(self.pmon) 
 90              self.pmon = None 
 91           
 92 -    def runTest(self): 
 93          self.failIf(self.package is None, "unable to determine package of executable") 
 94               
 95          done = False 
 96          while not done: 
 97              test_name = self.test_name 
 98   
 99              printlog("Running test [%s]", test_name) 
100   
101              #setup the test 
102              # - we pass in the output test_file name so we can scrape it 
103              test_file = xmlResultsFile(self.package, test_name, False) 
104              if os.path.exists(test_file): 
105                  printlog("removing previous test results file [%s]", test_file) 
106                  os.remove(test_file) 
107   
108              self.args.append('--gtest_output=xml:%s'%test_file) 
109   
110              # run the test, blocks until completion 
111              printlog("running test %s"%test_name) 
112              timeout_failure = False 
113   
114              run_id = None 
115              #TODO: really need different, non-node version of LocalProcess instead of these extra args 
116              process = roslaunch.nodeprocess.LocalProcess(run_id, self.package, self.test_name, self.args, os.environ, False, cwd='cwd', is_node=False) 
117   
118              pm = self.pmon 
119              pm.register(process) 
120              success = process.start() 
121              self.assert_(success, "test failed to start") 
122   
123              #poll until test terminates or alloted time exceed 
124              timeout_t = time.time() + self.time_limit 
125              try: 
126                  while pm.mainthread_spin_once() and process.is_alive(): 
127                      #test fails on timeout 
128                      if time.time() > timeout_t: 
129                          raise roslaunch.launch.RLTestTimeoutException("test max time allotted") 
130                      time.sleep(0.1) 
131                   
132              except roslaunch.launch.RLTestTimeoutException, e: 
133                  if self.retry: 
134                      timeout_failure = True 
135                  else: 
136                      raise 
137   
138              if not timeout_failure: 
139                  printlog("test [%s] finished"%test_name) 
140              else: 
141                  printlogerr("test [%s] timed out"%test_name)                 
142           
143              # load in test_file 
144              if not timeout_failure: 
145                  self.assert_(os.path.isfile(test_file), "test [%s] did not generate test results"%test_name) 
146                  printlog("test [%s] results are in [%s]", test_name, test_file) 
147                  results = rostest.xmlresults.read(test_file, test_name) 
148                  test_fail = results.num_errors or results.num_failures 
149              else: 
150                  test_fail = True 
151   
152              if self.retry > 0 and test_fail: 
153                  self.retry -= 1 
154                  printlog("test [%s] failed, retrying. Retries left: %s"%(test_name, self.retry)) 
155              else: 
156                  done = True 
157                  self.results.accumulate(results) 
158                  printlog("test [%s] results summary: %s errors, %s failures, %s tests", 
159                           test_name, results.num_errors, results.num_failures, results.num_tests) 
160   
161          printlog("[ROSTEST] test [%s] done", test_name) 
162