def test_assertInStdout_notices_too_many_matching_procs(self):
with self.assertRaisesRegex(Exception,
'Found multiple processes') as cm:
assertInStdout(self.proc_output, self.EXPECTED_TEXT,
'terminating_proc')
# Make sure the assertion method lists the names of the duplicate procs:
self.assertIn('terminating_proc-1', str(cm.exception))
self.assertIn('terminating_proc-2', str(cm.exception))
self.assertIn('terminating_proc-3', str(cm.exception))
def test_subscribe_vel_topics(self, launch_service, commands, proc_output):
input_velocities = []
input_timestamps = []
smoothed_velocities = []
smoothed_timestamps = []
def received_input_data(msg):
input_velocities.append(msg.linear.x)
input_timestamps.append(time.monotonic())
def received_smoothed_data(msg):
smoothed_velocities.append(msg.linear.x)
smoothed_timestamps.append(time.monotonic())
input_subscriber = self.node.create_subscription(
geometry_msgs.msg.Twist,
'/commands/cmd_vel',
received_input_data,
10,
)
smoothed_subscriber = self.node.create_subscription(
geometry_msgs.msg.Twist,
'/cmd_vel',
received_smoothed_data,
10,
)
try:
done = False
while rclpy.ok() and not done:
rclpy.spin_once(self.node, timeout_sec=0.1)
try:
# this works by virtue of having been printed dt seconds
# (0.1s) after the last publication, which is sufficient
# time for final subscription callbacks here to be
# processed
assertInStdout(proc_output, 'PROFILE_SENT', commands)
done = True
except launch_testing.util.proc_lookup.NoMatchingProcessException:
pass
except AssertionError:
pass
finally:
self.assertAlmostEqual(0.5, max(input_velocities))
self.assertTrue(0.5 > max(smoothed_velocities))
self.assertTrue(0.4 < max(smoothed_velocities))
# plot a graph for easy viz
plt.plot(input_timestamps, input_velocities, label='input')
plt.plot(smoothed_timestamps, smoothed_velocities, label='smooth')
plt.xlabel('time')
plt.ylabel('velocity')
plt.title('Raw Input vs Smoothed Velocities')
plt.legend()
plt.savefig('profiles.png')
self.node.destroy_subscription(input_subscriber)
self.node.destroy_subscription(smoothed_subscriber)
def test_assertInStdout_notices_no_matching_proc(self):
with self.assertRaisesRegex(Exception,
'Did not find any process') as cm:
assertInStdout(self.proc_output, self.EXPECTED_TEXT,
'bad_proc_name')
print(cm.exception)
# Make sure the assertion method lists the names of the process it does have:
self.assertIn('terminating_proc-1', str(cm.exception))
self.assertIn('terminating_proc-2', str(cm.exception))
self.assertIn('terminating_proc-3', str(cm.exception))
def test_asserts_on_missing_text_by_proc(self):
with self.assertRaisesRegex(AssertionError, self.NOT_FOUND_TEXT):
assertInStdout(self.proc_output, self.NOT_FOUND_TEXT, self.proc_2)
def test_arguments_disambiguate_processes(self):
txt = self.EXPECTED_TEXT
assertInStdout(self.proc_output, txt, 'terminating_proc', '--extra')
assertInStdout(self.proc_output, txt, 'terminating_proc',
'node:=different_name')
def test_regex_matching(self):
assertInStdout(self.proc_output,
re.compile(r'Called with arguments \S+'),
'terminating_proc-2')
def test_strict_proc_matching_false(self):
assertInStdout(self.proc_output,
self.EXPECTED_TEXT,
'terminating_proc',
strict_proc_matching=False)