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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 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)