# wait for node to be started
node_api = None
with Timeout(5) as t:
while not t.timed_out and node_api is None:
node_api = rosnode.get_api_uri(rospy.get_master(),
'connection_cache')
assert node_api is not None # make sure the connection cache node is started before moving on.
self.connection_cache = connection_cache_proxy_create()
def tearDown(self):
self.publisher_if_pool = None
self.connection_cache_proc.stop()
while self.connection_cache_proc.is_alive():
time.sleep(0.2) # waiting for cache node to die
assert not self.connection_cache_proc.is_alive()
time.sleep(1) # TODO : investigate : we shouldnt need this
if __name__ == '__main__':
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('test_publisher_if_pool_no_cache',
'test_all', TestRosInterface1NoCache)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('test_publisher_if_pool_cache',
'test_all', TestRosInterfaceCache)
assert self.connection_cache_proc.is_alive()
# wait for node to be started
node_api = None
with Timeout(5) as t:
while not t.timed_out and node_api is None:
node_api = rosnode.get_api_uri(rospy.get_master(), 'connection_cache')
assert node_api is not None # make sure the connection cache node is started before moving on.
self.connection_cache = connection_cache_proxy_create()
def tearDown(self):
self.service_if_pool = None
self.connection_cache_proc.stop()
while self.connection_cache_proc.is_alive():
time.sleep(0.2) # waiting for cache node to die
assert not self.connection_cache_proc.is_alive()
time.sleep(1) # TODO : investigate : we shouldnt need this
if __name__ == '__main__':
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('test_service_if_pool_no_cache', 'test_all', TestRosInterface1NoCache)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('test_service_if_pool_cache', 'test_all', TestRosInterfaceCache)
# Assert there is no difference
assert_true(
len(
set(six.iteritems(resp))
^ set(six.iteritems({'response': self.test_message}))) ==
0)
except KeyboardInterrupt:
self.fail("Test Interrupted !")
#TODO
# def test_slow_service_timeout(self):
#
# try:
# self.logPoint()
#
# print("calling : {msg} on service {service}".format(msg=self.test_message, service=self.slow_service.name))
# with self.assertRaises(TypeError):
# resp = self.slow_service.call(self.slow_service.rostype_req(self.test_message))
# self.assertIn(resp.response, [self.test_message])
#
# except KeyboardInterrupt:
# self.fail("Test Interrupted !")
if __name__ == '__main__':
print("ARGV : %r", sys.argv)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('pyros', 'testService', TestService,
sys.argv)
# Topics are up. Use them.
print("sending : {msg} on topic {topic}".format(
msg=self.test_message, topic=self.pub_topic.name))
msg = pub_topic_class()
# TODO : better serialization
populate_instance({'data': self.test_message}, msg)
if isinstance(msg, pub_topic_class):
self.pub_topic.publish(
msg
) # This should return False if publisher not fully setup yet
# CAREFUL the return spec of rospy's publish is not consistent
print("waiting for : {msg} on topic {topic}".format(
msg={'data': self.test_message}, topic=self.pub_if.name))
msg = self.msg_wait({'data': self.test_message}, self.pub_if)
# We assert there is no difference
assert_true(
len(
set(six.iteritems(msg))
^ set(six.iteritems({'data': self.test_message}))) == 0)
except KeyboardInterrupt:
self.fail("Test Interrupted !")
if __name__ == '__main__':
print("ARGV : %r", sys.argv)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('pyros', 'testStringPublisher',
TestStringPublisher, sys.argv)
# note we cannot test cleanup here. Assuming rostest does it properly.
# Tests Needed to validate that tests written for nose with pyros can also work with rostest
# if called from usual rostest testCase
def test_import_after_delay_setup_teardown_module(self):
test_import_after_delay_setup_teardown_module()
def test_import_before_delay_setup_teardown_module(self):
test_import_before_delay_setup_teardown_module()
if __name__ == '__main__':
print("Running with ROStest if launched with rostest...")
# testing rostest to validate rostests will still work.
from pyros_utils import rostest_nose
rostest_nose.rostest_or_nose_main('pyros_utils', 'testRosTest', testRosTest, sys.argv)
if rostest_nose.is_rostest_enabled():
print("Force running with nose even if launched with rostest...")
# Needed to validate that rostest_nose.rostest_or_nose_main will work fine if calling nose
# we need to remove options that nose doesnt know
#print(sys.argv)
for opt in sys.argv[1:]: # we keep argv[0]
if opt.startswith("--gtest_output") or opt.startswith("__name") or opt.startswith("__log") or opt.startswith("--text"):
sys.argv.remove(opt)
#print(sys.argv)
rostest_nose.rostest_enabled = False
# as well as nose
self.sub_if = SubscriberBack(self.sub_topic_name, sub_topic_type)
# Making sure the topic interface is ready to be used just after creation
# by checking the number of connections on the actual subscriber
subs_connected = self.sub_topic.impl.get_num_connections(
) # no local subs
assert_true(subs_connected == 1)
# Topics are up. Use them.
print("sending : {msg} on topic {topic}".format(
msg=self.test_message, topic=self.sub_if.name))
assert_true(self.sub_if.publish({'data': self.test_message}))
print("waiting for : {msg} on topic {topic}".format(
msg={'data': self.test_message}, topic=self.sub_topic.name))
msg = self.msg_wait({'data': self.test_message}, self.sub_topic)
# We assert there is no difference
assert_true(
len(
set(six.iteritems(msg))
^ set(six.iteritems({'data': self.test_message}))) == 0)
except KeyboardInterrupt:
self.fail("Test Interrupted !")
if __name__ == '__main__':
print("ARGV : %r", sys.argv)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('pyros', 'testStringSubscriber',
TestStringSubscriber, sys.argv)