test_rospy_timer_online.py
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00001 #!/usr/bin/env python
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00033 
00034 import os
00035 import sys
00036 import unittest
00037 import time
00038 
00039 import rosunit
00040 
00041 from threading import Thread
00042 
00043 class TestRospyTimerOnline(unittest.TestCase):
00044     
00045     def __init__(self, *args):
00046         unittest.TestCase.__init__(self, *args)
00047         import rospy
00048         rospy.init_node('test_rospy_timer_online')
00049         self.timer_callbacks = 0
00050         self.timer_event = None
00051 
00052     def test_sleep(self):
00053         import rospy
00054         import time
00055         t = time.time()
00056         rospy.sleep(0.1)
00057         dur = time.time() - t
00058         # #2842 raising bounds from .01 to .03 for amazon VM 
00059 
00060         # make sure sleep is approximately right
00061         self.assert_(abs(dur - 0.1) < 0.03, dur)
00062 
00063         t = time.time()
00064         rospy.sleep(rospy.Duration.from_sec(0.1))
00065         dur = time.time() - t
00066         # make sure sleep is approximately right
00067         self.assert_(abs(dur - 0.1) < 0.03, dur)
00068 
00069         # sleep for neg duration
00070         t = time.time()
00071         rospy.sleep(rospy.Duration.from_sec(-10.))
00072         dur = time.time() - t
00073         # make sure returned immediately
00074         self.assert_(abs(dur) < 0.1, dur)
00075 
00076     def test_Rate(self):
00077         import rospy
00078         import time
00079         t = time.time()
00080         count = 0
00081         r = rospy.Rate(10)
00082         for x in xrange(10):
00083             r.sleep()
00084         dur = time.time() - t
00085         # make sure sleep is approximately right
00086         self.assert_(abs(dur - 1.0) < 0.5, dur)
00087         
00088     def _Timer_callback(self, event):
00089         self.timer_callbacks += 1
00090         self.timer_event = event
00091 
00092     def callback(event):
00093         print 'last_expected:        ', event.last_expected
00094         print 'last_real:            ', event.last_real
00095         print 'current_expected:     ', event.current_expected
00096         print 'current_real:         ', event.current_real
00097         print 'current_error:        ', (event.current_real - event.current_expected).to_sec()
00098         print 'profile.last_duration:', event.last_duration
00099         if event.last_real:
00100             print 'last_error:           ', (event.last_real - event.last_expected).to_sec(), 'secs'
00101 
00102     def test_Timer(self):
00103         import rospy
00104         timer = rospy.Timer(rospy.Duration(1), self._Timer_callback)
00105         time.sleep(10)
00106         timer.shutdown()
00107         
00108         # make sure we got an approximately correct number of callbacks
00109         self.assert_(abs(self.timer_callbacks - 10) < 2)
00110         # make sure error is approximately correct.  the Timer
00111         # implementation tracks error in accumulated real time.
00112         ev = self.timer_event
00113         self.assert_(ev is not None)
00114         self.assert_(abs((ev.current_real - ev.current_expected).to_sec()) < 2.)
00115         
00116 if __name__ == '__main__':
00117     rosunit.unitrun('test_rospy', sys.argv[0], TestRospyTimerOnline, coverage_packages=['rospy.timer'])


test_rospy
Author(s): Ken Conley
autogenerated on Fri Aug 28 2015 12:33:56