test_server_components.py
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1 #!/usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
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27 # POSSIBILITY OF SUCH DAMAGE.
28 
29 # Author: Alexander Sorokin.
30 
31 PKG = 'actionlib'
32 import rospy
33 
34 import unittest
35 import threading
36 
37 from actionlib import goal_id_generator, status_tracker
38 import actionlib_msgs.msg
39 
40 
41 # A sample python unit test
42 class TestGoalIDGenerator(unittest.TestCase):
43 
44  def test_generator(self):
45  gen1 = goal_id_generator.GoalIDGenerator()
46 
47  id1 = gen1.generate_ID()
48  id2 = gen1.generate_ID()
49  id3 = gen1.generate_ID()
50  nn1, s1, ts1 = id1.id.split('-')
51  nn2, s2, ts2 = id2.id.split('-')
52  nn3, s3, ts3 = id3.id.split('-')
53 
54  self.assertEqual(nn1, "/test_goal_id_generator", "node names are different")
55  self.assertEqual(nn1, nn2, "node names are different")
56  self.assertEqual(nn1, nn3, "node names are different")
57 
58  self.assertEqual(s1, "1", "Sequence numbers mismatch")
59  self.assertEqual(s2, "2", "Sequence numbers mismatch")
60  self.assertEqual(s3, "3", "Sequence numbers mismatch")
61 
63  """
64  This test checks that all the ids are generated unique. This test should fail if the synchronization is set incorrectly.
65  @note this test is can succeed when the errors are present.
66  """
67  global ids_lists
68  ids_lists = {}
69 
70  def gen_ids(tID=1, num_ids=1000):
71  gen = goal_id_generator.GoalIDGenerator()
72  for i in range(0, num_ids):
73  id = gen.generate_ID()
74  ids_lists[tID].append(id)
75 
76  num_ids = 1000
77  num_threads = 200
78  threads = []
79  for tID in range(0, num_threads):
80  ids_lists[tID] = []
81  t = threading.Thread(None, gen_ids, None, (), {'tID': tID, 'num_ids': num_ids})
82  threads.append(t)
83  t.start()
84 
85  for t in threads:
86  t.join()
87 
88  all_ids = {}
89  for tID in range(0, num_threads):
90  self.assertEqual(len(ids_lists[tID]), num_ids)
91  for id in ids_lists[tID]:
92  nn, s, ts = id.id.split('-')
93  self.assertFalse(s in all_ids, "Duplicate ID found")
94  all_ids[s] = 1
95 
97  tracker = status_tracker.StatusTracker("test-id", actionlib_msgs.msg.GoalStatus.PENDING)
98  self.assertEqual(tracker.status.goal_id, "test-id")
99  self.assertEqual(tracker.status.status, actionlib_msgs.msg.GoalStatus.PENDING)
100 
101 
102 if __name__ == '__main__':
103  import rostest
104  rospy.init_node("test_goal_id_generator")
105  rostest.rosrun(PKG, 'test_goal_id_generator', TestGoalIDGenerator)
test_server_components.TestGoalIDGenerator.test_status_tracker
def test_status_tracker(self)
Definition: test_server_components.py:96
test_server_components.TestGoalIDGenerator.test_threaded_generation
def test_threaded_generation(self)
Definition: test_server_components.py:62
test_server_components.TestGoalIDGenerator
Definition: test_server_components.py:42
test_server_components.TestGoalIDGenerator.test_generator
def test_generator(self)
Definition: test_server_components.py:44


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Fri May 19 2023 02:36:55