self.assertFalse(timeout_t < time.time(), "timeout exceeded")
self.assertFalse(rospy.is_shutdown(), "node shutdown")
self.assertFalse(self.fixture_curr is None, "no data from fixture")
m = self.fixture_curr
self.assertAlmostEqual(m.a.x, m.b.x)
self.assertAlmostEqual(m.a.y, m.b.y)
self.assertAlmostEqual(m.a.z, m.b.z)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print("waiting for 20 seconds for client to verify")
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(self.test_curr is None, "no data from test")
m = self.test_curr
self.assertAlmostEqual(m.a.x, m.b.x)
self.assertAlmostEqual(m.a.y, m.b.y)
self.assertAlmostEqual(m.a.z, m.b.z)
# a.w = a.x + a.y + a.z. Just make sure we're in the ballpark
a = self.test_curr.a
self.assertTrue(abs(a.x + a.y + a.z - a.w) < 10.)
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, CompositePassthrough, sys.argv)
print "waiting for 20 seconds for fixture to verify"
while self.fixture_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_curr is None, "no data from fixture")
self.assertEquals('/node0', self.fixture_curr.caller_id)
self.assertEquals('', self.fixture_curr.orig_caller_id)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_curr is None, "no data from test")
self.assertEquals('/rosjava_node', self.test_curr.caller_id)
self.assertEquals('/node0', self.test_curr.orig_caller_id)
t = self.test_curr.header.stamp.to_sec()
# be really generous here, just need to be in the ballpark.
self.assert_(abs(time.time() - t) < 60.)
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, TestHeaderPassthrough, sys.argv)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.assertEquals(self.nodes_set, self.fixture_nodes_cb, "fixture did not validate: %s vs %s"%(self.nodes_set, self.fixture_nodes_cb))
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while not self.test_nodes_cb == self.nodes_set and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertEquals(self.nodes_set, self.test_nodes_cb, "passthrough did not pass along all message")
# Create a new Publisher here. This will validate publisherUpdate()
pub = rospy.Publisher('string_in', String)
msg = 'test_publisherUpdate'
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while not msg in self.nodes_set and \
not rospy.is_shutdown() and \
timeout_t > time.time():
pub.publish(data=msg)
time.sleep(0.2)
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, TestStringPassthrough, sys.argv)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_curr is None, "no data from fixture")
m = self.fixture_curr
self.assertAlmostEquals(m.a.x, m.b.x)
self.assertAlmostEquals(m.a.y, m.b.y)
self.assertAlmostEquals(m.a.z, m.b.z)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_curr is None, "no data from test")
m = self.test_curr
self.assertAlmostEquals(m.a.x, m.b.x)
self.assertAlmostEquals(m.a.y, m.b.y)
self.assertAlmostEquals(m.a.z, m.b.z)
# a.w = a.x + a.y + a.z. Just make sure we're in the ballpark
a = self.test_curr.a
self.assert_(abs(a.x + a.y + a.z - a.w) < 10.)
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, CompositePassthrough, sys.argv)
def test_int64_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print("waiting for 20 seconds for fixture to verify")
while self.fixture_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(timeout_t < time.time(), "timeout exceeded")
self.assertFalse(rospy.is_shutdown(), "node shutdown")
self.assertFalse(self.fixture_prev is None, "no data from fixture")
self.assertFalse(self.fixture_curr is None, "no data from fixture")
self.assertEqual(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print("waiting for 20 seconds for client to verify")
while self.test_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(self.test_prev is None, "no data from test")
self.assertEqual(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, TestInt64Passthrough, sys.argv)
ns_source = rospy.get_param('parameter_namespace')
ns_target = rospy.get_param('target_namespace')
tests = self.tests
for t in tests:
source_name = roslib.names.ns_join(ns_source, t)
target_name = roslib.names.ns_join(ns_target, t)
source_value = rospy.get_param(source_name)
target_value = rospy.get_param(target_name)
if t != 'float':
self.assertEquals(source_value, target_value)
else:
self.assertAlmostEquals(source_value, target_value)
def test_tilde_parameter(self):
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to load"
while self.tilde_msg is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.tilde_msg is None)
self.assertEquals(rospy.get_param('param_client/tilde'), self.tilde_msg.data)
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, TestParameterClient, sys.argv)
def test_int64_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print "waiting for 20 seconds for fixture to verify"
while self.fixture_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_prev is None, "no data from fixture")
self.failIf(self.fixture_curr is None, "no data from fixture")
self.assertEquals(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_prev is None, "no data from test")
self.assertEquals(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
if __name__ == '__main__':
import rostest
rostest.run(PKG, NAME, TestInt64Passthrough, sys.argv)
