Source Code for Module rostest.rostest_main

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 33  # Revision $Id$ 
 34   
 35  from __future__ import with_statement 
 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 roslib.packages  
 48  import roslib.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.baretest 
 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 = roslib.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      # make sure all loggers are configured properly 
 85      logfile_name = configure_logging() 
 86      logger = logging.getLogger('rostest') 
 87      import roslaunch.core 
 88      roslaunch.core.add_printlog_handler(logger.info) 
 89      roslaunch.core.add_printerrlog_handler(logger.error)         
 90       
 91      from optparse import OptionParser 
 92      parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME) 
 93      parser.add_option("-t", "--text", 
 94                        action="store_true", dest="text_mode", default=False, 
 95                        help="Run with stdout output instead of XML output") 
 96      parser.add_option("--bare", 
 97                        action="store_true", dest="bare", default=False, 
 98                        help="Run bare gtest-compatible executable instead of rostest") 
 99      parser.add_option("--bare-limit", metavar="TIME_LIMIT", 
100                        dest="bare_limit", default=60, 
101                        help="Set time limit for --bare executable") 
102      parser.add_option("--bare-name", metavar="TEST_NAME", 
103                        dest="bare_name", default=None, 
104                        help="Test name for --bare executable") 
105      parser.add_option("--pkgdir", metavar="PKG_DIR", 
106                        dest="pkg_dir", default=None, 
107                        help="package dir") 
108      parser.add_option("--package", metavar="PACKAGE", 
109                        dest="package", default=None, 
110                        help="package") 
111      (options, args) = parser.parse_args() 
112      try: 
113          if options.bare: 
114              # no need to resolve arguments in this case 
115              pass 
116          else: 
117              args = roslaunch.rlutil.resolve_launch_arguments(args) 
118      except roslaunch.core.RLException, e: 
119          print >> sys.stderr, str(e) 
120          sys.exit(1) 
121   
122      logger.info('rostest starting with options %s, args %s'%(options, args)) 
123      if len(args) == 0: 
124          parser.error("You must supply a test file argument to rostest.") 
125      if len(args) != 1 and not options.bare: 
126          parser.error("rostest only accepts a single test file") 
127   
128      # compute some common names we'll be using to generate test names and files 
129      test_file = args[0] 
130      if options.pkg_dir and options.package:   
131          # rosbuild2: the build system knows what package and directory, so let it tell us, 
132          # instead of shelling back out to rospack 
133          pkg_dir, pkg = options.pkg_dir, options.package 
134      else: 
135          pkg_dir, pkg = roslib.packages.get_dir_pkg(test_file) 
136   
137      outname = rostest_name_from_path(pkg_dir, test_file) 
138   
139      # #1140 
140      if not options.bare and not os.path.isfile(test_file): 
141          results_file = xmlResultsFile(pkg, outname, True) 
142          write_bad_filename_failure(test_file, results_file, outname) 
143          parser.error("test file is invalid. Generated failure case result file in %s"%results_file) 
144           
145      try: 
146          if options.bare: 
147              # TODO: does bare-retry make sense? 
148              time_limit = float(options.bare_limit) if options.bare_limit else None 
149              testCase = rostest.baretest.BareTestCase(test_file, args[1:],  
150                                                       rostest.runner.getResults(), retry=0,  
151                                                       time_limit=time_limit, test_name=options.bare_name, 
152                                                       package=pkg) 
153              suite = unittest.TestSuite() 
154              suite.addTest(testCase) 
155   
156              # override outname 
157              if options.bare_name: 
158                  outname = options.bare_name 
159          else: 
160              testCase = rostest.runner.createUnitTest(pkg, test_file) 
161              suite = unittest.TestLoader().loadTestsFromTestCase(testCase) 
162   
163          if options.text_mode: 
164              rostest.runner.setTextMode(True) 
165              result = unittest.TextTestRunner(verbosity=2).run(suite) 
166          else: 
167              is_rostest = True 
168              results_file = xmlResultsFile(pkg, outname, is_rostest)         
169              xml_runner = createXMLRunner(pkg, outname, \ 
170                                               results_file=results_file, \ 
171                                               is_rostest=is_rostest) 
172              result = xml_runner.run(suite) 
173      finally: 
174          # really make sure that all of our processes have been killed 
175          test_parents = rostest.runner.getRostestParents() 
176          for r in test_parents: 
177              logger.info("finally rostest parent tearDown [%s]", r) 
178              r.tearDown() 
179          del test_parents[:] 
180          from roslaunch.pmon import pmon_shutdown 
181          logger.info("calling pmon_shutdown") 
182          pmon_shutdown() 
183          logger.info("... done calling pmon_shutdown") 
184   
185      # print config errors after test has run so that we don't get caught up in .xml results 
186      config = rostest.runner.getConfig() 
187      if config: 
188          if config.config_errors: 
189              print >> sys.stderr, "\n[ROSTEST WARNINGS]"+'-'*62+'\n' 
190          for err in config.config_errors: 
191              print >> sys.stderr, " * %s"%err 
192          print '' 
193   
194      # summary is worthless if textMode is on as we cannot scrape .xml results 
195      subtest_results = rostest.runner.getResults() 
196      if not options.text_mode: 
197          printRostestSummary(result, subtest_results) 
198      else: 
199          print "WARNING: overall test result is not accurate when --text is enabled" 
200   
201      if logfile_name: 
202          print "rostest log file is in %s"%logfile_name 
203           
204      if not result.wasSuccessful(): 
205          sys.exit(1) 
206      elif subtest_results.num_errors or subtest_results.num_failures: 
207          sys.exit(2) 
208       
209  if __name__ == '__main__': 
210      rostestmain() 
211