def setUp(self):
"""
initializes self.config and xmlrpc infrastructure
"""
self._start_infrastructure()
self.master = Master(port=self.port)
self.master.start()
self.config.master.uri = self.master.uri
self._init_runner()
class ROSTestLaunchParent(roslaunch.parent.ROSLaunchParent):
def __init__(self, config, roslaunch_files, port=0):
if config is None:
raise Exception("config not initialized")
# we generate a run_id for each test
run_id = roslaunch.core.generate_run_id()
super(ROSTestLaunchParent, self).__init__(run_id,
roslaunch_files,
is_core=False,
is_rostest=True)
self.config = config
self.port = port
self.master = None
def _load_config(self):
# disable super, just in case, though this shouldn't get called
pass
def setUp(self):
"""
initializes self.config and xmlrpc infrastructure
"""
self._start_infrastructure()
self.master = Master(port=self.port)
self.master.start()
self.config.master.uri = self.master.uri
self._init_runner()
def tearDown(self):
if self.runner is not None:
runner = self.runner
runner.stop()
if self.master is not None:
self.master.stop()
self.master = None
self._stop_infrastructure()
def launch(self):
"""
perform launch of nodes, does not launch tests. rostest_parent
follows a different pattern of init/run than the normal
roslaunch, which is why it does not reuse start()/spin()
"""
if self.runner is not None:
return self.runner.launch()
else:
raise Exception("no runner to launch")
def run_test(self, test):
"""
run the test, blocks until completion
"""
if self.runner is not None:
# run the test, blocks until completion
return self.runner.run_test(test)
else:
raise Exception("no runner")
class ROSTestLaunchParent(roslaunch.parent.ROSLaunchParent):
def __init__(self, config, roslaunch_files, port=0):
if config is None:
raise Exception("config not initialized")
# we generate a run_id for each test
run_id = roslaunch.core.generate_run_id()
super(ROSTestLaunchParent, self).__init__(run_id, roslaunch_files, is_core=False, is_rostest=True)
self.config = config
self.port = port
self.master = None
def _load_config(self):
# disable super, just in case, though this shouldn't get called
pass
def setUp(self):
"""
initializes self.config and xmlrpc infrastructure
"""
self._start_infrastructure()
self.master = Master(port=self.port)
self.master.start()
self.config.master.uri = self.master.uri
self._init_runner()
def tearDown(self):
if self.runner is not None:
runner = self.runner
runner.stop()
if self.master is not None:
self.master.stop()
self.master = None
self._stop_infrastructure()
def launch(self):
"""
perform launch of nodes, does not launch tests. rostest_parent
follows a different pattern of init/run than the normal
roslaunch, which is why it does not reuse start()/spin()
"""
if self.runner is not None:
return self.runner.launch()
else:
raise Exception("no runner to launch")
def run_test(self, test):
"""
run the test, blocks until completion
"""
if self.runner is not None:
# run the test, blocks until completion
return self.runner.run_test(test)
else:
raise Exception("no runner")
def setUp(self):
"""
initializes self.config and xmlrpc infrastructure
"""
self._start_infrastructure()
self.master = Master(port=self.port)
self.master.start()
self.config.master.uri = self.master.uri
self._init_runner()
class ROSTestLaunchParent(roslaunch.parent.ROSLaunchParent):
def __init__(self, config, roslaunch_files, port=0, reuse_master=False, clear=False):
if config is None:
raise Exception("config not initialized")
# we generate a run_id for each test
if reuse_master:
param_server = rosgraph.Master('/roslaunch')
try:
run_id = param_server.getParam('/run_id')
except Exception as e:
# The user asked us to connect to an existing ROS master, and
# we can't. Throw an exception and die
raise Exception("Could not connect to existing ROS master. "
+ "Original exception was: %s" % str(e))
except:
# oh boy; we got something that wasn't an exception.
# Throw an exception and die
raise Exception("Could not connect to existing ROS master.")
if clear:
params = param_server.getParamNames()
# whitelist of parameters to keep
whitelist = ['/run_id', '/rosversion', '/rosdistro']
for i in reversed(range(len(params))):
param = params[i]
if param in whitelist:
del params[i]
elif param.startswith('/roslaunch/'):
del params[i]
for param in params:
param_server.deleteParam(param)
else:
run_id = roslaunch.core.generate_run_id()
super(ROSTestLaunchParent, self).__init__(run_id, roslaunch_files, is_core=False, is_rostest=True)
self.config = config
self.port = port
self.reuse_master = reuse_master
self.master = None
def _load_config(self):
# disable super, just in case, though this shouldn't get called
pass
def setUp(self):
"""
initializes self.config and xmlrpc infrastructure
"""
self._start_infrastructure()
if not self.reuse_master:
self.master = Master(port=self.port)
self.master.start()
self.config.master.uri = self.master.uri
self._init_runner()
def tearDown(self):
if self.runner is not None:
runner = self.runner
runner.stop()
if self.master is not None:
self.master.stop()
self.master = None
self._stop_infrastructure()
def launch(self):
"""
perform launch of nodes, does not launch tests. rostest_parent
follows a different pattern of init/run than the normal
roslaunch, which is why it does not reuse start()/spin()
"""
if self.runner is not None:
return self.runner.launch()
else:
raise Exception("no runner to launch")
def run_test(self, test):
"""
run the test, blocks until completion
"""
if self.runner is not None:
# run the test, blocks until completion
return self.runner.run_test(test)
else:
raise Exception("no runner")