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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 that expected items from GenericAnalyzer will appear stale
from __future__ import with_statement
DURATION = 15
PKG = 'diagnostic_aggregator'
import roslib; roslib.load_manifest(PKG)
import rospy, rostest, unittest
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from time import sleep
import sys
import threading
def get_raw_name(agg_name):
return agg_name.split('/')[-1]
class DiagnosticItem:
def __init__(self, msg):
self.name = get_raw_name(msg.name)
self.level = msg.level
self.message = msg.message
self.update_time = rospy.get_time()
def is_stale(self):
return rospy.get_time() - self.update_time > 5
def update(self, msg):
self.level = msg.level
self.message = msg.message
self.update_time = rospy.get_time()
class TestExpectedItemsStale(unittest.TestCase):
def __init__(self, *args):
super(TestExpectedItemsStale, self).__init__(*args)
self._mutex = threading.Lock()
self._expecteds = {}
self._agg_expecteds = {}
rospy.init_node('test_expected_stale')
self._starttime = rospy.get_time()
sub = rospy.Subscriber("/diagnostics", DiagnosticArray, self.diag_cb)
sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
def diag_cb(self, msg):
with self._mutex:
for stat in msg.status:
if stat.name.find('expected') == 0:
self._expecteds[stat.name] = DiagnosticItem(stat)
def diag_agg_cb(self, msg):
with self._mutex:
for stat in msg.status:
if stat.name.find('expected') > 0:
self._agg_expecteds[get_raw_name(stat.name)] = DiagnosticItem(stat)
def test_expecteds_arent_stale(self):
while not rospy.is_shutdown():
sleep(1.0)
if rospy.get_time() - self._starttime > DURATION:
break
with self._mutex:
self.assert_(len(self._expecteds) > 0, "No expected items found in raw data!")
for name, item in self._expecteds.items():
self.assert_(name in self._agg_expecteds, "Item %s not found in aggregated diagnostics output" % name)
if item.is_stale():
self.assert_(self._agg_expecteds[name].level == 3, "Stale item in diagnostics, but aggregated didn't report as stale. Item: %s, state: %d" %(name, self._agg_expecteds[name].level))
else:
self.assert_(self._agg_expecteds[name].level == item.level, "Diagnostic level of aggregated, raw item don't match for %s" % name)
if __name__ == '__main__':
rostest.run(PKG, sys.argv[0], TestExpectedItemsStale, sys.argv)
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