mech_diag_test.py
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00001 #!/usr/bin/env python
00002 #
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2010, Willow Garage, Inc.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
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00011 #
00012 #  * Redistributions of source code must retain the above copyright
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00014 #  * Redistributions in binary form must reproduce the above
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00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
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00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 ##\author Kevin Watts
00037 
00038 from __future__ import with_statement
00039 PKG = 'pr2_mechanism_diagnostics'
00040 import roslib; roslib.load_manifest(PKG)
00041 
00042 import rospy, rostest, unittest
00043 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
00044 
00045 import sys
00046 import threading
00047 from time import sleep
00048 
00049 WAIT_TIME = 5
00050 
00051 class TestMechDiag(unittest.TestCase):
00052     def __init__(self, *args):
00053         super(TestMechDiag, self).__init__(*args)
00054 
00055         self._mutex = threading.Lock()
00056         self._joints = {}
00057         self._controllers = {}
00058         
00059         self._start_time = rospy.get_time()
00060 
00061         # Calibrated, Nan for joints
00062         self._cal = rospy.get_param("mech_diag/cal", True)
00063         self._nan = rospy.get_param("mech_diag/nan", False)
00064         
00065         self._running = rospy.get_param("mech_diag/running", True)
00066         self._overrun = rospy.get_param("mech_diag/overrun", False)
00067         
00068         sub_diag = rospy.Subscriber('/diagnostics', DiagnosticArray, self._diag_cb)
00069 
00070     def _diag_cb(self, msg):
00071         with self._mutex:
00072             for stat in msg.status:
00073                 if stat.name.startswith('Joint'):
00074                     self._joints[stat.name] = stat
00075                 if stat.name.startswith('Controller'):
00076                     # Ignore special "No controllers" status
00077                     if stat.name.find('No controllers') > 0:
00078                         continue
00079 
00080                     self._controllers[stat.name] = stat
00081 
00082     def test_mech_diag(self):
00083         while not rospy.is_shutdown() and (rospy.get_time() - self._start_time) < WAIT_TIME:
00084             sleep(0.5)
00085 
00086         self.assert_(not rospy.is_shutdown(), "Rospy shutdown")
00087 
00088         with self._mutex:
00089             if len(self._joints.items()) == 0:
00090                 self.assert_(False, "No joint data in diagnostics")
00091             for key, val in self._joints.iteritems():
00092                 if self._nan:
00093                     self.assert_(val.level == 2, "Joint %s was not ERROR, but was NaN. Level %d" % (val.name, val.level))
00094                 elif self._cal:
00095                     self.assert_(val.level == 0, "Joint %s was not OK. Level %d" % (val.name, val.level))
00096                 else:
00097                     self.assert_(val.level == 1, "Joint %s was not warning, but was uncalibrated. Level %d" % (val.name, val.level))
00098 
00099             if len(self._controllers.items()) == 0:
00100                 self.assert_(False, "No controller data in diagnostics")
00101 
00102             for key, val in self._controllers.iteritems():
00103                 if self._overrun:
00104                     self.assert_(val.level == 1, "Controller %s was not WARN, but was overrun. Level %d" % (val.name, val.level))
00105                 else:
00106                     self.assert_(val.level == 0, "Controller %s was not OK. Level %d" % (val.name, val.level))
00107                     
00108 if __name__ == '__main__':
00109     rospy.init_node('test_mech_diag_nominal')
00110     if True:
00111         rostest.run(PKG, sys.argv[0], TestMechDiag, sys.argv)
00112     else:
00113         suite = unittest.TestSuite()
00114         suite.addTest(TestMechDiag('test_mech_diag'))
00115 
00116         unittest.TextTestRunner(verbosity = 2).run(suite)


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Thu Jun 6 2019 21:11:37