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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, 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 for valid self test calls
PKG = 'self_test'
import roslib; roslib.load_manifest(PKG)
SRV_NAME = 'my_node/self_test'
import unittest
import rospy, rostest
import sys
from optparse import OptionParser
from diagnostic_msgs.srv import SelfTest, SelfTestRequest, SelfTestResponse
class TestSelfTest(unittest.TestCase):
def __init__(self, *args):
super(TestSelfTest, self).__init__(*args)
parser = OptionParser(usage="usage ./%prog [options]", prog="test_selftest.py")
parser.add_option('--no-id', action="store_true",
dest="no_id", default=False,
help="No ID expected from self test")
parser.add_option('--expect-fail', action="store_true",
dest="expect_fail", default=False,
help="Self test should fail")
parser.add_option('--exception', action="store_true",
dest="exception", default=False,
help="Self test should throw exception and we should get error message")
# Option comes with rostest, will fail w/o this line
parser.add_option('--gtest_output', action="store",
dest="gtest")
options, args = parser.parse_args()
self.no_id = options.no_id
self.expect_fail = options.expect_fail
self.exception = options.exception
def test_self_test(self):
proxy = rospy.ServiceProxy(SRV_NAME, SelfTest)
try:
rospy.wait_for_service(SRV_NAME, 15)
except Exception as e:
self.assert_(False, "Service %s did not respond. Unable to test self_test" % SRV_NAME)
try:
res = proxy()
except Exception as e:
import traceback
self.assert_(False, "Error calling self_test service. Exception: %s" % traceback.format_exc())
if self.no_id:
self.assert_(res.id == '', "Result had node ID even though ID was not expected. ID: %s" % res.id)
else:
self.assert_(res.id != '', "Result had no node ID")
if self.expect_fail or self.exception:
self.assert_(res.passed == 0, "Self test passed, but it shouldn't have. Result: %d" % res.passed)
max_val = 0
for tst in res.status:
max_val = max(max_val, tst.level)
self.assert_(max_val > 0, "Self test failed, but no sub tests reported a failure or warning")
else:
self.assert_(res.passed, "Self test failed, but we expected a pass")
for tst in res.status:
self.assert_(tst.level == 0, "Self test subtest failed, but we marked it as a pass")
if self.exception:
found_ex = False
for tst in res.status:
if tst.message.find('exception') > -1:
found_ex = True
self.assert_(found_ex, "Self test threw and exception, but we didn't catch it and report it")
if __name__ == '__main__':
rostest.run(PKG, sys.argv[0], TestSelfTest, sys.argv)
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