test_monitor.py

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#!/usr/bin/env python
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##\author Kevin Watts

##\brief Tests that runtime monitor opens, closes and doesn't throw exception

PKG = 'runtime_monitor'
import roslib; roslib.load_manifest(PKG)

import wx
import unittest
import rospy, rostest
from time import sleep
import sys
from optparse import OptionParser

from runtime_monitor.monitor_panel import *

import threading

DURATION = 10

##\brief Main frame of runtime monitor for testing only
class MainWindow(wx.Frame):
    def __init__(self, parent, title):
        wx.Frame.__init__(self, parent, wx.ID_ANY, title)

        self.panel = MonitorPanel(self)
        self.SetSize(wx.Size(750, 450))

    def on_exit(self, e):
        self.Close(True)

class MonitorApp(wx.App):
    def OnInit(self):
        self._frame = MainWindow(None, 'Runtime Monitor')
        self._frame.SetSize(wx.Size(500, 700))
        self._frame.Layout()
        self._frame.Show(True)
        return True

class RuntimeRunner(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.app = MonitorApp()
        
    def run(self):
        self.app.MainLoop()
        

class TestRuntimeMonitor(unittest.TestCase):
    def __init__(self, *args):
        super(TestRuntimeMonitor, self).__init__(*args)
        
        rospy.init_node('test_runtime_monitor', anonymous=True)
        parser = OptionParser(usage="usage ./%prog [options]", prog="test_monitor.py")

        # Option comes with rostest, will fail w/o this line
        parser.add_option('--gtest_output', action="store",
                          dest="gtest")

        options, args = parser.parse_args(rospy.myargv())

        self.runner = RuntimeRunner()
        self.runner.start()
        
    def test_runtime_monitor(self):
        start = rospy.get_time()
        while not rospy.is_shutdown():
            if rospy.get_time() - start > DURATION:
                break
            self.assert_(self.runner.isAlive(), "Thread running runtime monitor isn't running.")
            sleep(1.0)
            
        try:
            wx.CallAfter(self.runner.app._frame.on_exit(None))
            self.runner.join(5)
        except:
            import traceback
            self.assert_(False, "Caught exception closing runtime monitor: %s" % traceback.format_exc())
        
        self.assert_(not self.runner.isAlive(), "Thread running runtime monitor didn't join up.")
        self.assert_(not rospy.is_shutdown(), "Rospy shut down during test.")


if __name__ == '__main__':
    rostest.run(PKG, sys.argv[0], TestRuntimeMonitor, sys.argv)