test_roswtf_command_line_online.py

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#!/usr/bin/env python
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# Revision $Id: test_rostopic_command_line_online.py 6411 2009-10-02 21:32:01Z kwc $

PKG = 'test_rostopic'
NAME = 'test_rostopic_command_line_online'
import roslib; roslib.load_manifest(PKG)

import os
import signal
import sys 
import time
import unittest

import rospy
import rostest

import std_msgs.msg

from subprocess import Popen, PIPE, check_call, call

def run_for(cmd, secs):
    popen = Popen(cmd, stdout=PIPE, stderr=PIPE, close_fds=True)
    timeout_t = time.time() + secs
    while time.time() < timeout_t:
        time.sleep(0.1)
    os.kill(popen.pid, signal.SIGKILL)
    
class TestRostopicOnline(unittest.TestCase):

    def setUp(self):
        self.vals = set()
        self.msgs = {}

    ## test that the rosmsg command works
    def test_cmd_help(self):
        cmd = 'roswtf'
        output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
        self.assert_('Options' in output)
            
    def test_offline(self):
        # this test is disabled for now; now that test_roswtf is part
        # of ros_comm, the tricks before that were used no longer work
        cmd = 'roswtf'

        # pass in special test key to roswtf for ROS_PACKAGE_PATH
        env = os.environ.copy()
        import roslib.stacks
        
        env['ROS_PACKAGE_PATH'] = roslib.stacks.get_stack_dir('ros_comm')

        import roslib.packages
        cwd  = roslib.packages.get_pkg_dir('test_roswtf')
        kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE, 'cwd': cwd}

        # run roswtf nakedly in the test_roswtf directory. Running in
        # ROS_ROOT effectively make test_roswtf have dependencies on
        # every package in the ROS stack, which doesn't work.

        output, err = Popen([cmd], **kwds).communicate()
        self.assert_('No errors or warnings' in output, "OUTPUT[%s]\nstderr[%s}"%(output, err))
        self.assert_('ERROR' not in output, "OUTPUT[%s]"%output)        

        # run roswtf on a simple launch file online
        import roslib.packages
        p = os.path.join(roslib.packages.get_pkg_dir('test_roswtf'), 'test', 'min.launch')
        output = Popen([cmd, p], **kwds).communicate()[0]
        self.assert_('No errors or warnings' in output, "OUTPUT[%s]"%output)
        self.assert_('ERROR' not in output, "OUTPUT[%s]"%output)        
        
if __name__ == '__main__':
    rostest.run(PKG, NAME, TestRostopicOnline, sys.argv)

---

test_roswtf
Author(s): Ken Conley
autogenerated on Fri Jan 11 09:41:10 2013