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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# 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 the Willow Garage 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.
#
##\author Kevin Watts
##\brief Tests receipt of /diagnostics_agg from diagnostic aggregator
from __future__ import with_statement
PKG = 'diagnostic_aggregator'
import roslib; roslib.load_manifest(PKG)
import unittest
import rospy, rostest
from time import sleep
import sys
from optparse import OptionParser
import threading
import types
from diagnostic_msgs.msg import DiagnosticArray
prefix = ""
##\brief Removes name chaff (ex: 'tilt_hokuyo_node: Frequency' to 'Frequency')
def fix_sub_name(name, remove_prefixes):
last = str(name)
for start_name in remove_prefixes:
if last.startswith(start_name):
last = last[len(start_name):]
if last.startswith(':'):
last = last[1:]
while last.startswith(' '):
last = last[1:]
return last
def combine_name_prefix(my_prefix, name, remove_prefixes):
fixed = fix_sub_name(name.replace('/', ''), remove_prefixes)
return '/'.join([prefix, my_prefix, fixed])
def header_name(my_prefix):
return '/'.join([prefix, my_prefix])
def _get_params_list(params):
out = []
if type(params) in (list, tuple):
for p in params:
out.append(str(p))
return out
return [ str(params) ]
def name_to_full_generic(name, my_prefix, value, header=False):
remove_prefixes = []
if 'remove_prefix' in value:
remove_prefixes = _get_params_list(value['remove_prefix'])
if 'find_and_remove_prefix' in value:
for rp in _get_params_list(value['find_and_remove_prefix']):
remove_prefixes.extend(_get_params_list(value['find_and_remove_prefix']))
for sw in _get_params_list(value['find_and_remove_prefix']):
if name.startswith(sw):
if header:
return header_name(my_prefix)
return combine_name_prefix(my_prefix, name, remove_prefixes)
if 'startswith' in value:
for sw in _get_params_list(value['startswith']):
if name.startswith(sw):
if header:
return header_name(my_prefix)
return combine_name_prefix(my_prefix, name, remove_prefixes)
if 'contains' in value:
for con in _get_params_list(value['contains']):
if name.find(con) >= 0:
if header:
return header_name(my_prefix)
return combine_name_prefix(my_prefix, name, remove_prefixes)
if 'name' in value:
for nm in _get_params_list(value['name']):
if name == nm:
if header:
return header_name(my_prefix)
return combine_name_prefix(my_prefix, name, remove_prefixes)
if 'expected' in value:
for nm in _get_params_list(value['expected']):
if name == nm:
if header:
return header_name(my_prefix)
return combine_name_prefix(my_prefix, name, remove_prefixes)
return None
def name_to_agg_name(name, params):
for key, value in params.items():
if not 'path' in value or not 'type' in value:
return None
my_prefix = value['path']
if value['type'] == 'GenericAnalyzer' or value['type'] == 'diagnostic_aggregator/GenericAnalyzer':
generic_name = name_to_full_generic(name, my_prefix, value)
if generic_name is not None:
return generic_name
else:
return None
# If we don't have it...
return combine_name_prefix('Other', name, [])
# Returns header name for particular item
def name_to_agg_header(name, params):
for key, value in params.items():
if not 'path' in value or not 'type' in value:
return None
my_prefix = value['path']
if value['type'] == 'GenericAnalyzer' or value['type'] == 'diagnostic_aggregator/GenericAnalyzer':
generic_name = name_to_full_generic(name, my_prefix, value, header=True)
if generic_name is not None:
return generic_name
else:
return None
# If we don't have it...
return header_name('Other')
##\brief Uses aggregator parameters to compare diagnostics with aggregated output
class TestAggregator(unittest.TestCase):
def __init__(self, *args):
super(TestAggregator, self).__init__(*args)
parser = OptionParser(usage="./%prog [options]", prog="aggregator_test.py")
parser.add_option('--gtest_output', action="store", dest="gtest")
parser.add_option('--param_name', action="store", dest="param",
default='diag_agg', metavar="PARAM_NAME",
help="Name of parameter that defines analyzers")
parser.add_option('--duration', action="store", dest="duration",
default=10, metavar="DURATIION",
help="Duration of test")
parser.add_option('--base_path', action="store", dest="base_path",
default="", metavar="BASE_PATH",
help="Base path for all output topics")
self.diag_msgs = {}
self.agg_msgs = {}
rospy.init_node('test_diag_agg')
options, args = parser.parse_args(rospy.myargv())
global prefix
prefix = options.base_path
self.params = rospy.get_param(options.param)
self.duration = options.duration
rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.cb)
rospy.Subscriber('diagnostics', DiagnosticArray, self.diag_cb)
self._mutex = threading.Lock()
def diag_cb(self, msg):
with self._mutex:
for stat in msg.status:
self.diag_msgs[stat.name] = stat
def cb(self, msg):
with self._mutex:
for stat in msg.status:
self.agg_msgs[stat.name] = stat
def test_agg(self):
start = rospy.get_time()
while not rospy.is_shutdown():
sleep(1.0)
if rospy.get_time() - start > self.duration:
break
self.assert_(not rospy.is_shutdown(), "Rospy shutdown")
with self._mutex:
all_headers = {}
for name, msg in self.agg_msgs.items():
self.assert_(name.startswith('/'), "Aggregated name %s doesn't start with \"/\"" % name)
# Go through all messages and check that we have them in aggregate
for name, msg in self.diag_msgs.items():
agg_name = name_to_agg_name(name, self.params)
self.assert_(agg_name is not None, 'Aggregated name is None for %s' % name)
self.assert_(agg_name in self.agg_msgs, 'No matching name found for name: %s, aggregated name: %s' % (name, agg_name))
self.assert_(msg.level == self.agg_msgs[agg_name].level, 'Status level of original, aggregated messages doesn\'t match. Name: %s, aggregated name: %s.' % (name, agg_name))
self.assert_(msg.message == self.agg_msgs[agg_name].message, 'Status message of original, aggregated messages doesn\'t match. Name: %s, aggregated name: %s' % (name, agg_name))
# This is because the analyzers only reports stale if
# all messages underneath it are stale
if self.agg_msgs[agg_name].level == 3: # Stale
self.agg_msgs[agg_name].level = -1
header = name_to_agg_header(name, self.params)
if header in all_headers:
all_headers[header] = max(all_headers[header], self.agg_msgs[agg_name].level)
else:
all_headers[header] = self.agg_msgs[agg_name].level
del self.agg_msgs[agg_name]
# Check that we have all_headers
for header, lvl in all_headers.items():
# If everything is stale, report stale. Otherwise, it should report an error
if lvl == -1:
lvl = 3
self.assert_(header in self.agg_msgs, "Header %s not found in messages" % header)
self.assert_(self.agg_msgs[header].level == lvl, "Level of header %s doesn't match expected value." % header)
del self.agg_msgs[header]
# Check that we have the main header message
if len(prefix) > 0:
self.assert_(len(self.agg_msgs) == 1, "Incorrect number of messages remaining: %d. Messages: %s" % (len(self.agg_msgs), str(self.agg_msgs)))
self.assert_(prefix in self.agg_msgs, "Global prefix not found in messages: %s. Messages: %s" % (prefix, str(self.agg_msgs)))
else:
self.assert_(len(self.agg_msgs) == 0, "Incorrect number of messages remaining: %d. Messages: %s. Expected 0." % (len(self.agg_msgs), str(self.agg_msgs)))
if __name__ == '__main__':
print('SYS ARGS:', sys.argv)
rostest.run(PKG, sys.argv[0], TestAggregator, sys.argv)
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