def test_get_test_results_dir():
from rospkg import get_ros_root, get_test_results_dir
base = tempfile.gettempdir()
ros_test_results_dir = os.path.join(base, 'ros_test_results_dir')
ros_home_dir = os.path.join(base, 'ros_home_dir')
home_dir = os.path.expanduser('~')
# ROS_TEST_RESULTS_DIR has precedence
env = {
'ROS_ROOT': get_ros_root(),
'ROS_TEST_RESULTS_DIR': ros_test_results_dir,
'ROS_HOME': ros_home_dir
}
assert ros_test_results_dir == get_test_results_dir(env=env)
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir}
assert os.path.join(ros_home_dir,
'test_results') == get_test_results_dir(env=env)
env = {'ROS_ROOT': get_ros_root()}
assert os.path.join(home_dir, '.ros',
'test_results') == get_test_results_dir(env=env)
# test default assignment of env. Don't both checking return value as we would duplicate get_test_results_dir
assert get_test_results_dir() is not None
def xml_results_file(test_pkg, test_name, is_rostest=False):
"""
@param test_pkg: name of test's package
@type test_pkg: str
@param test_name str: name of test
@type test_name: str
@param is_rostest: True if the results file is for a rostest-generated unit instance
@type is_rostest: bool
@return: name of xml results file for specified test
@rtype: str
"""
test_dir = os.path.join(rospkg.get_test_results_dir(), test_pkg)
if not os.path.exists(test_dir):
try:
makedirs_with_parent_perms(test_dir)
except OSError:
raise IOError(
"cannot create test results directory [%s]. Please check permissions."
% (test_dir))
# #576: strip out chars that would bork the filename
# this is fairly primitive, but for now just trying to catch some common cases
for c in ' "\'&$!`/\\':
if c in test_name:
test_name = test_name.replace(c, '_')
if is_rostest:
return os.path.join(test_dir, 'TEST-rostest__%s.xml' % test_name)
else:
return os.path.join(test_dir, 'TEST-%s.xml' % test_name)
def xml_results_file(test_pkg, test_name, is_rostest=False):
"""
@param test_pkg: name of test's package
@type test_pkg: str
@param test_name str: name of test
@type test_name: str
@param is_rostest: True if the results file is for a rostest-generated unit instance
@type is_rostest: bool
@return: name of xml results file for specified test
@rtype: str
"""
test_dir = os.path.join(rospkg.get_test_results_dir(), test_pkg)
if not os.path.exists(test_dir):
try:
makedirs_with_parent_perms(test_dir)
except OSError:
raise IOError("cannot create test results directory [%s]. Please check permissions."%(test_dir))
# #576: strip out chars that would bork the filename
# this is fairly primitive, but for now just trying to catch some common cases
for c in ' "\'&$!`/\\':
if c in test_name:
test_name = test_name.replace(c, '_')
if is_rostest:
return os.path.join(test_dir, 'rostest-%s.xml'%test_name)
else:
return os.path.join(test_dir, 'rosunit-%s.xml'%test_name)
def test_path_smoothing(self):
test_dir = rospkg.get_test_results_dir() + '/' + PKG
if not os.path.exists(test_dir):
os.makedirs(test_dir)
path = np.array([[0, 0],
[1, 0],
[1, 1],
[2, 1]])
pos, vel, acc, jerk, time = smooth_path(path)
plt.figure()
ax1 = plt.subplot2grid((3, 2), (0, 0), rowspan=3)
ax1.plot(pos[:, 0], pos[:, 1])
ax1.set_xlabel('x position')
ax1.set_ylabel('y position')
ax2 = plt.subplot2grid((3, 2), (0, 1))
ax2.plot(time, vel[:, 0], time, vel[:, 1])
ax2.set_ylabel('Velocity')
ax3 = plt.subplot2grid((3, 2), (1, 1), sharex=ax2)
ax3.plot(time, acc[:, 0], time, acc[:, 1])
ax3.set_ylabel('Acceleration')
ax4 = plt.subplot2grid((3, 2), (2, 1), sharex=ax2)
ax4.plot(time, jerk[:, 0], time, jerk[:, 1])
ax4.set_ylabel('Jerk')
ax4.set_xlabel('Time')
for ax in [ax2, ax3]:
plt.setp(ax.get_xticklabels(), visible=False)
plt.tight_layout()
filepath = test_dir + '/smoothing.png'
plt.savefig(filepath)
self.assertTrue(True)
def prepare_dirs(output_dir_name):
test_results_dir = rospkg.get_test_results_dir()
print("will read test results from", test_results_dir)
output_dir = os.path.join(test_results_dir, output_dir_name)
if not os.path.exists(output_dir):
print("creating directory", output_dir)
os.makedirs(output_dir)
return test_results_dir, output_dir
def prepare_dirs(output_dir_name):
test_results_dir = rospkg.get_test_results_dir()
print("will read test results from", test_results_dir)
output_dir = os.path.join(test_results_dir, output_dir_name)
if not os.path.exists(output_dir):
print("creating directory", output_dir)
os.makedirs(output_dir)
return test_results_dir, output_dir
def test_plot_map(self):
test_dir = rospkg.get_test_results_dir() + '/' + PKG
if not os.path.exists(test_dir):
os.makedirs(test_dir)
filepath = test_dir + '/prm.png'
plt.figure()
self.prm.plot()
plt.savefig(filepath)
self.assertTrue(True)
def test_get_test_results_dir():
from rospkg import get_ros_root, get_test_results_dir
base = tempfile.gettempdir()
ros_test_results_dir = os.path.join(base, 'ros_test_results_dir')
ros_home_dir = os.path.join(base, 'ros_home_dir')
home_dir = os.path.expanduser('~')
# ROS_TEST_RESULTS_DIR has precedence
env = {'ROS_ROOT': get_ros_root(), 'ROS_TEST_RESULTS_DIR': ros_test_results_dir, 'ROS_HOME': ros_home_dir }
assert ros_test_results_dir == get_test_results_dir(env=env)
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir }
assert os.path.join(ros_home_dir, 'test_results') == get_test_results_dir(env=env)
env = {'ROS_ROOT': get_ros_root()}
assert os.path.join(home_dir, '.ros', 'test_results') == get_test_results_dir(env=env)
# test default assignment of env. Don't both checking return value as we would duplicate get_test_results_dir
assert get_test_results_dir() is not None
def build(self):
# Hudson sets the WORKSPACE env var
workspace = os.environ['STACK_BUILD_DIR']
#workspace = '/tmp'
os.environ['JOB_NAME'] = 'build'
ros_test_results_dir = rospkg.get_test_results_dir()
print '1. Test results dir is set to %s'%ros_test_results_dir
# Blow away old ~/.ros content. self.dotrosname is used at the end
# of this method, for tarring up the result of this run.
self.dotrosname = os.path.join(workspace, '.ros')
def build(self):
# Hudson sets the WORKSPACE env var
workspace = os.environ["STACK_BUILD_DIR"]
# workspace = '/tmp'
os.environ["JOB_NAME"] = "build"
ros_test_results_dir = rospkg.get_test_results_dir()
print "1. Test results dir is set to %s" % ros_test_results_dir
# Blow away old ~/.ros content. self.dotrosname is used at the end
# of this method, for tarring up the result of this run.
self.dotrosname = os.path.join(workspace, ".ros")
if os.path.isdir(self.dotrosname):
try:
shutil.rmtree(self.dotrosname)
except OSError, e:
# Ignore this; it's usually a stale NFS handle.
pass
def build(self):
# Hudson sets the WORKSPACE env var
workspace = os.environ['STACK_BUILD_DIR']
#workspace = '/tmp'
os.environ['JOB_NAME'] = 'build'
ros_test_results_dir = rospkg.get_test_results_dir()
print '1. Test results dir is set to %s' % ros_test_results_dir
# Blow away old ~/.ros content. self.dotrosname is used at the end
# of this method, for tarring up the result of this run.
self.dotrosname = os.path.join(workspace, '.ros')
if os.path.isdir(self.dotrosname):
try:
shutil.rmtree(self.dotrosname)
except OSError, e:
# Ignore this; it's usually a stale NFS handle.
pass
def read_all(filter_=[]):
"""
Read in the test_results and aggregate into a single Result object
@param filter_: list of packages that should be processed
@type filter_: [str]
@return: aggregated result
@rtype: L{Result}
"""
dir_ = rospkg.get_test_results_dir()
root_result = Result('ros', 0, 0, 0)
if not os.path.exists(dir_):
return root_result
for d in os.listdir(dir_):
if filter_ and not d in filter_:
continue
subdir = os.path.join(dir_, d)
if os.path.isdir(subdir):
for filename in os.listdir(subdir):
if filename.endswith('.xml'):
filename = os.path.join(subdir, filename)
result = read(filename, os.path.basename(subdir))
root_result.accumulate(result)
return root_result
def read_all(filter_=[]):
"""
Read in the test_results and aggregate into a single Result object
@param filter_: list of packages that should be processed
@type filter_: [str]
@return: aggregated result
@rtype: L{Result}
"""
dir_ = rospkg.get_test_results_dir()
root_result = Result('ros', 0, 0, 0)
if not os.path.exists(dir_):
return root_result
for d in os.listdir(dir_):
if filter_ and d not in filter_:
continue
subdir = os.path.join(dir_, d)
if os.path.isdir(subdir):
for filename in os.listdir(subdir):
if filename.endswith('.xml'):
filename = os.path.join(subdir, filename)
result = read(filename, os.path.basename(subdir))
root_result.accumulate(result)
return root_result
run_shell_cmd,
add_text_to_video,
concatenate_videos,
rosbag_msg_generator,
get_rosbag_file,
check_if_ffmpeg_satisfied,
)
from blender_api_msgs.msg import *
from genpy import Duration
from roslaunch import nodeprocess
nodeprocess._TIMEOUT_SIGINT = 2
nodeprocess._TIMEOUT_SIGTERM = 1
TEST_DIR = rospkg.get_test_results_dir()
PKG = "blender_api_msgs"
def parse_msg(msg):
return eval(msg.split(":")[1].strip())
class BlenderAPITest(unittest.TestCase):
def setUp(self):
blender_api_path = os.path.join(rospkg.RosPack().get_path("blender_api_msgs"), "../blender_api")
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(
package="blender_api_msgs",
node_type="blender",
# 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 Willow Garage, Inc. 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. # # Revision $Id$ """ test_results_dir.py simply prints the directory that rosunit/rostest results are stored in. """ from __future__ import print_function import rospkg print(rospkg.get_test_results_dir())
import rostopic
import rosbag
import rosnode
from roslaunch import core
from testing_tools.misc import (wait_for, startxvfb, stopxvfb, capture_screen,
run_shell_cmd, add_text_to_video,
concatenate_videos, rosbag_msg_generator,
get_rosbag_file, check_if_ffmpeg_satisfied)
from blender_api_msgs.msg import *
from genpy import Duration
from roslaunch import nodeprocess
nodeprocess._TIMEOUT_SIGINT = 2
nodeprocess._TIMEOUT_SIGTERM = 1
TEST_DIR = rospkg.get_test_results_dir()
PKG = 'blender_api_msgs'
def parse_msg(msg):
return eval(msg.split(':')[1].strip())
class BlenderAPITest(unittest.TestCase):
def setUp(self):
blender_api_path = os.path.join(
rospkg.RosPack().get_path('blender_api_msgs'), '../blender_api')
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(package='blender_api_msgs',
node_type='blender',
)
result = [{
"topic": "/appctl/mode",
"message_type": "appctl/Mode",
"slot": "mode",
"strategy": "value",
"value_min": None,
"value_max": None,
"value": "tactile"
}, {
"topic": "/director/scene",
"message_type": "interactivespaces_msgs/GenericMessage",
"slot": "message.slug",
"strategy": "value",
"value_min": None,
"value_max": None,
"value": "online_scene"
}]
assert result == unpack_activity_sources(source_string)
if __name__ == "__main__":
test_pkg = "lg_common"
test_name = "test_helpers"
test_dir = os.path.join(rospkg.get_test_results_dir(env=None), test_pkg)
pytest_result_path = os.path.join(test_dir, "rosunit-%s.xml" % test_name)
# run only itself
test_path = os.path.abspath(os.path.abspath(__file__))
# output is unfortunately handled / controlled by above layer of rostest (-s has no effect)
pytest.main("%s -s -v --junit-xml=%s" % (test_path, pytest_result_path))
assert self.publisher.msgs[0].strings == []
# check that the hide message was sent just once
assert len(self.publisher.msgs) == 1
def test_handle_visibility_show_onboard(self):
msg = Bool(data=True)
assert self.router.last_state is None
self.router.handle_visibility(msg)
assert self.router.last_state is True
assert self.publisher.msgs[0].strings == ["wall"]
# check that the hide message was sent just once
assert len(self.publisher.msgs) == 1
# check that repeatedly sending messages of the same value
# won't get processed multiple times but only once
for _ in range(10):
self.router.handle_visibility(msg)
assert self.router.last_state is True
assert self.publisher.msgs[0].strings == ["wall"]
# check that the hide message was sent just once
assert len(self.publisher.msgs) == 1
if __name__ == "__main__":
test_pkg = "lg_keyboard"
test_name = "test_onboard_router"
test_dir = os.path.join(rospkg.get_test_results_dir(env=None), test_pkg)
pytest_result_path = os.path.join(test_dir, "rosunit-%s.xml" % test_name)
# run only itself
test_path = os.path.abspath(os.path.abspath(__file__))
pytest.main("-vv -rfsX -s --junit-xml=%s %s" % (pytest_result_path, test_path))
# * 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 Willow Garage, Inc. 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. # # Revision $Id$ """ test_results_dir.py simply prints the directory that rosunit/rostest results are stored in. """ from __future__ import print_function import rospkg print(rospkg.get_test_results_dir())
