Source Code for Module rocon_test.main

  1  #!/usr/bin/env python 
  2  # 
  3  # License: BSD 
  4  #   https://raw.github.com/robotics-in-concert/rocon_multimaster/hydro-devel/rocon_test/LICENSE 
  5  # 
  6   
  7  ############################################################################## 
  8  # Imports 
  9  ############################################################################## 
 10   
 11  from __future__ import print_function 
 12   
 13  import os 
 14  import sys 
 15  import unittest 
 16  import rostest.runner 
 17  import rocon_utilities 
 18  import rospkg 
 19  import argparse 
 20  from argparse import RawTextHelpFormatter 
 21  from rostest.rostestutil import printRostestSummary 
 22  import rosunit 
 23  from roslaunch.pmon import pmon_shutdown 
 24   
 25  # Local imports 
 26  import loggers 
 27  #from loggers import printlog 
 28  import runner 
 29   
 30  ############################################################################## 
 31  # Methods 
 32  ############################################################################## 
 33   
 34   
 35 -def help_string(): 
 36      overview = 'Launches a rocon multi-launch test.\n\n' 
 37      instructions = " \ 
 38   - 'rocon-test xxx' : create an empty workspace in ./ecl.\n \ 
 39   With some extra info (todo).\n\n \ 
 40   " 
 41      return overview + instructions 
 42   
 43   
 44 -def _parse_arguments(): 
 45      ''' 
 46      @raise IOError : if no package name is given and the rocon launcher cannot be found on the filesystem. 
 47      ''' 
 48      parser = argparse.ArgumentParser(description=help_string(), formatter_class=RawTextHelpFormatter) 
 49      parser.add_argument('package', nargs='?', default=None, help='name of the package in which to find the test configuration') 
 50      parser.add_argument('test', nargs=1, help='name of the test configuration (xml) file') 
 51      parser.add_argument('-l', '--launch', action='store_true', help='launch each component with rocon_launch [false]') 
 52      parser.add_argument('-p', '--pause', action='store_true', help='pause before tearing down so you can introspect easily [false]') 
 53      parser.add_argument('-s', '--screen', action='store_true', help='run each roslaunch with the --screen option') 
 54      parser.add_argument('-t', '--text-mode', action='store_true', help='log the rostest output to screen rather than log file.') 
 55      args = parser.parse_args() 
 56      # Stop it from being a list (happens when nargs is an integer) 
 57      args.test = args.test[0] 
 58      if args.screen: 
 59          args.screen = "--screen" 
 60      else: 
 61          args.screen = "" 
 62      if not args.package: 
 63          if not os.path.isfile(args.test): 
 64              raise IOError("Test launcher file does not exist [%s]." % args.test) 
 65          else: 
 66              args.package = rospkg.get_package_name(args.test) 
 67      return (args.package, args.test, args.screen, args.pause, args.text_mode) 
 68   
 69   
 70 -def test_main(): 
 71      (package, name, launch_arguments, pause, text_mode) = _parse_arguments() 
 72      rocon_launcher = rocon_utilities.find_resource(package, name)  # raises an IO error if there is a problem. 
 73      launchers = rocon_utilities.parse_rocon_launcher(rocon_launcher, launch_arguments) 
 74      results_log_name, results_file = loggers.configure_logging(package, rocon_launcher) 
 75   
 76      try: 
 77          test_case = runner.create_unit_rocon_test(rocon_launcher, launchers) 
 78          suite = unittest.TestLoader().loadTestsFromTestCase(test_case) 
 79          if pause: 
 80              runner.set_pause_mode(True) 
 81          if text_mode: 
 82              runner.set_text_mode(True) 
 83              result = unittest.TextTestRunner(verbosity=2).run(suite) 
 84          else: 
 85              xml_runner = rosunit.create_xml_runner(package, results_log_name, \ 
 86                                           results_file=results_file, \ 
 87                                           is_rostest=True) 
 88              result = xml_runner.run(suite) 
 89      finally: 
 90          # really make sure that all of our processes have been killed (should be automatic though) 
 91          test_parents = runner.get_rocon_test_parents() 
 92          for r in test_parents: 
 93              r.tearDown() 
 94          del test_parents[:] 
 95          pmon_shutdown() 
 96      subtest_results = runner.get_results() 
 97   
 98      ################################ 
 99      # Post stuff 
100      ################################ 
101      config = rostest.runner.getConfig() 
102      if config: 
103          if config.config_errors: 
104              print("\n[ROCON_TEST WARNINGS]" + '-' * 62 + '\n', file=sys.stderr) 
105          for err in config.config_errors: 
106              print(" * %s" % err, file=sys.stderr) 
107          print('') 
108   
109      if not text_mode: 
110          printRostestSummary(result, subtest_results) 
111          loggers.printlog("results log file is in %s" % results_file) 
112   
113      # This is not really a useful log, so dont worry about showing it. 
114      # if log_name: 
115      #     loggers.printlog("rocon_test log file is in %s" % log_name) 
116   
117      if not result.wasSuccessful(): 
118          sys.exit(1) 
119      elif subtest_results.num_errors or subtest_results.num_failures: 
120          sys.exit(2) 
121