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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 that analyzer that fails to load will produce diagnostic error
from __future__ import with_statement
DURATION = 5
PKG = 'test_diagnostic_aggregator'
import rospy, rostest, unittest
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from time import sleep
import sys
import threading
from optparse import OptionParser
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 TestFailInit(unittest.TestCase):
def __init__(self, *args):
super(TestFailInit, self).__init__(*args)
parser = OptionParser(usage="usage ./%prog [options]", prog="fail_init_test.py")
parser.add_option('--ns', action="store", default=None,
dest="ns", metavar="NAMESPACE",
help="Expected namespace that analyzer will fail in")
# Option comes with rostest, will fail w/o this line
parser.add_option('--gtest_output', action="store",
dest="gtest")
options, args = parser.parse_args(rospy.myargv())
if not options.ns:
parser.error("Option --ns is mandatory. Unable to parse args")
self._ns = options.ns
self._item = None
self._mutex = threading.Lock()
rospy.init_node('test_fail_init')
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(self._ns) > 0:
self._item = stat
break
def test_fail_init(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_(self._ns, "Namespace is none. Option --ns not given")
self.assert_(self._item, "No item with name %s found in diag_agg" % self._ns)
self.assert_(self._item.level == 3, "Item failed to initialize, but was not stale. Level: %d" % self._item.level)
if __name__ == '__main__':
if False:
suite = unittest.TestSuite()
suite.addTest(TestFailInit('test_fail_init'))
unittest.TextTestRunner(verbosity = 2).run(suite)
else:
rostest.run(PKG, sys.argv[0], TestFailInit, sys.argv)
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