1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
#!/usr/bin/env python3
#
# Software License Agreement (BSD License)
#
# Copyright (c) 2017, TNO IVS, Helmond, Netherlands
# 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 TNO IVS 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 Rein Appeldoorn
import unittest
import rospy
import rostest
from diagnostic_msgs.msg import DiagnosticArray
class TestCPUMonitor(unittest.TestCase):
def diagnostics_callback(self, msg):
self._msg = msg
def test_cpu_monitor_diagnostics(self):
rospy.init_node('test_cpu_monitor')
self._expected_level = None
if rospy.has_param('~expected_level'):
self._expected_level = rospy.get_param('~expected_level')
self._subscriber = rospy.Subscriber('diagnostics', DiagnosticArray, self.diagnostics_callback)
self._msg = None
while not self._msg:
rospy.sleep(.1)
self._subscriber.unregister()
self.assertEqual(len(self._msg.status), 1)
status = self._msg.status[0]
for v in status.values:
percentage = float(v.value)
self.assertGreaterEqual(percentage, 0)
self.assertLessEqual(percentage, 100)
if self._expected_level:
self.assertEqual(self._expected_level, status.level)
PKG = 'diagnostics_common_diagnostics'
NAME = 'test_cpu_monitor'
if __name__ == '__main__':
rostest.unitrun(PKG, NAME, TestCPUMonitor)
|
