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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 two analyzers can match and analyze a single item
from __future__ import with_statement
DURATION = 10
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
MULTI_NAME = 'multi'
HEADER1 = 'Header1'
HEADER2 = 'Header2'
def get_raw_name(agg_name):
return agg_name.split('/')[-1]
def get_header_name(agg_name):
return '/'.join(agg_name.split('/')[1:-1])
class DiagnosticItem:
def __init__(self, msg):
self.name = get_raw_name(msg.name)
self.header = get_header_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 TestMultipleMatch(unittest.TestCase):
def __init__(self, *args):
super(TestMultipleMatch, self).__init__(*args)
self._mutex = threading.Lock()
self._multi_items = {}
rospy.init_node('test_multiple_match')
self._starttime = rospy.get_time()
sub_agg = rospy.Subscriber("/diagnostics_agg", DiagnosticArray, self.diag_agg_cb)
def diag_agg_cb(self, msg):
with self._mutex:
for stat in msg.status:
if stat.name.find(MULTI_NAME) > 0:
self._multi_items[get_header_name(stat.name)] = DiagnosticItem(stat)
def test_multiple_match(self):
while not rospy.is_shutdown():
sleep(1.0)
if rospy.get_time() - self._starttime > DURATION:
break
self.assert_(not rospy.is_shutdown(), "Rospy shutdown!")
with self._mutex:
self.assert_(HEADER1 in self._multi_items, "Didn't have item under %s. Items: %s" % (HEADER1, self._multi_items))
self.assert_(self._multi_items[HEADER1].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER1, MULTI_NAME))
self.assert_(HEADER2 in self._multi_items, "Didn't have item under %s" % HEADER2)
self.assert_(self._multi_items[HEADER2].name == MULTI_NAME, "Item name under %s didn't match %s" % (HEADER2, MULTI_NAME))
if __name__ == '__main__':
if False:
suite = unittest.TestSuite()
suite.addTest(TestMultipleMatch('test_multiple_match'))
unittest.TextTestRunner(verbosity = 2).run(suite)
else:
rostest.run(PKG, sys.argv[0], TestMultipleMatch, sys.argv)
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