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#! /usr/bin/env python
#
# Copyright (c) 2013, Miguel Sarabia
# Imperial College London
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of Imperial College London nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import random
import threading
import unittest
import actionlib
from actionlib.msg import TestAction
import rosnode
import rospy
class Constants:
pkg = "actionlib"
node = "test_simple_action_server_deadlock"
topic = "deadlock"
deadlock_timeout = 45 # in seconds
shutdown_timeout = 2 # in seconds
max_action_duration = 3
class DeadlockTest(unittest.TestCase):
def test_deadlock(self):
# Prepare condition (for safe preemption)
self.condition = threading.Condition()
self.last_execution_time = None
# Prepare Simple Action Server
self.action_server = actionlib.SimpleActionServer(
Constants.topic,
TestAction,
execute_cb=self.execute_callback,
auto_start=False)
self.action_server.register_preempt_callback(self.preempt_callback)
self.action_server.start()
# Sleep for the amount specified
rospy.sleep(Constants.deadlock_timeout)
# Start actual tests
running_nodes = set(rosnode.get_node_names())
required_nodes = {
"/deadlock_companion_1",
"/deadlock_companion_2",
"/deadlock_companion_3",
"/deadlock_companion_4",
"/deadlock_companion_5"}
self.assertTrue(
required_nodes.issubset(running_nodes),
"Required companion nodes are not currently running")
# Shutdown companions so that we can exit nicely
termination_time = rospy.Time.now()
rosnode.kill_nodes(required_nodes)
rospy.sleep(Constants.shutdown_timeout)
# Check last execution wasn't too long ago...
self.assertIsNotNone(
self.last_execution_time is None,
"Execute Callback was never executed")
time_since_last_execution = (
termination_time - self.last_execution_time).to_sec()
self.assertTrue(
time_since_last_execution < 2 * Constants.max_action_duration,
"Too long since last goal was executed; likely due to a deadlock")
def execute_callback(self, goal):
# Note down last_execution time
self.last_execution_time = rospy.Time.now()
# Determine duration of this action
action_duration = random.uniform(0, Constants.max_action_duration)
with self.condition:
if not self.action_server.is_preempt_requested():
self.condition.wait(action_duration)
if self.action_server.is_preempt_requested():
self.action_server.set_preempted()
else:
self.action_server.set_succeeded()
def preempt_callback(self):
with self.condition:
self.condition.notify()
if __name__ == '__main__':
import rostest
rospy.init_node(Constants.node)
rostest.rosrun(Constants.pkg, Constants.node, DeadlockTest)
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