def test_random_record(self):
rospy.init_node('random_pub')
if (len(sys.argv) < 2):
raise Exception("Expected seed as first argument")
seed = int(sys.argv[1])
seed = int(sys.argv[1])
topics = int(sys.argv[2])
length = float(sys.argv[3])
rmg = RandomMsgGen(seed, topics, length)
publishers = {}
for (topic, msg_class) in rmg.topics():
publishers[topic] = rospy.Publisher(topic, msg_class)
bagpath = os.path.join('/tmp', 'test_rosbag_random_record_%d'%seed)
cmd = ['rosbag', 'record', '-a', '-O', bagpath]
f1 = subprocess.Popen(cmd)
def finalkill():
try:
os.kill(f1.pid, signal.SIGKILL)
except:
pass
atexit.register(finalkill)
# Sleep an extra 5 seconds for good measure
rospy.sleep(rospy.Duration.from_sec(5.0))
start = rospy.Time.now()
for (topic, msg, time) in rmg.messages():
d = start + rospy.Duration.from_sec(time) - rospy.Time.now()
rospy.sleep(d)
publishers[topic].publish(msg)
# Sleep an extra 5 seconds for good measure
rospy.sleep(rospy.Duration.from_sec(5.0))
# Initial terminate using SIGINT so bag clean up nicely
os.kill(f1.pid, signal.SIGINT)
# Sleep an extra 5 seconds for good measure
rospy.sleep(rospy.Duration.from_sec(5.0))
# Keep trying to kill until it's dead instead of blocking on communicate
while (f1.poll() is None):
try:
os.kill(f1.pid, signal.SIGKILL)
except:
pass
rospy.sleep(rospy.Duration.from_sec(1.0))
self.assertEqual(f1.returncode, 0)
def test_random_play(self):
rospy.init_node('random_sub', anonymous=True)
self.start = None
self.input = []
self.assertTrue(len(sys.argv[1]) > 3)
seed = int(sys.argv[1])
topics = int(sys.argv[2])
length = float(sys.argv[3])
scale = float(sys.argv[4])
self.use_clock = bool(int(sys.argv[5]))
rmg = RandomMsgGen(int(seed), topics, length)
subscribers = {}
for (topic, msg_class) in rmg.topics():
subscribers[topic] = rospy.Subscriber(topic, msg_class,
self.msg_cb_topic(topic))
bagpath = os.path.join('/tmp',
'test_rosbag_random_record_%d.bag' % seed)
cmd = ['rosbag', 'play', '-d', str(DELAY), '-r', str(scale)]
rospy.loginfo(str(cmd))
if (self.use_clock):
cmd += ['--clock', '--hz', '100']
cmd += [bagpath]
try:
f1 = subprocess.Popen(cmd)
last_input_count = 0
while (len(self.input) < rmg.message_count()):
# print "\n%d/%d\n"%(len(self.input), rmg.message_count())
time.sleep(1.0)
# abort loop if no input is coming in anymore and process has finished
if len(self.input) == last_input_count:
rc = f1.poll()
if rc is not None:
self.assertEqual(rc, 0)
break
last_input_count = len(self.input)
self.assertEqual(len(self.input), rmg.message_count())
max_late = 0
max_early = 0
avg_off = 0
power = 0
for (expect_topic, expect_msg, expect_time) in rmg.messages():
if (not self.use_clock):
expect_time /= scale
buff = StringIO()
expect_msg.serialize(buff)
expect_msg.deserialize(buff.getvalue())
msg_match = False
for ind in range(0, 100):
(input_topic, input_msg, input_time) = self.input[ind]
if (genpy.message.strify_message(expect_msg) ==
genpy.message.strify_message(input_msg)):
msg_match = True
del self.input[ind]
# stats
diff = input_time - expect_time
if (diff < max_early):
max_early = diff
if (diff > max_late):
max_late = diff
avg_off += diff / rmg.message_count()
power += (diff**2) / rmg.message_count()
# Messages can arrive late, but never very early Both of
# these bounds are much larger than they ought to be, but
# you never know with a heavily loaded system.
self.assertTrue(input_time - expect_time > -.5)
self.assertTrue(abs(input_time - expect_time) < .5)
break
if not msg_match:
print("No match at time: %f" % expect_time)
self.assertTrue(msg_match)
print("%f %f %f %f" % (max_early, max_late, avg_off, power))
finally:
f1.communicate()
self.assertEqual(f1.returncode, 0)
def test_random_play(self):
rospy.init_node('random_sub', anonymous=True)
self.start = None
self.input = []
self.assertTrue(len(sys.argv[1]) > 3)
seed = int(sys.argv[1])
topics = int(sys.argv[2])
length = float(sys.argv[3])
scale = float(sys.argv[4])
self.use_clock = bool(int(sys.argv[5]))
rmg = RandomMsgGen(int(seed), topics, length)
subscribers = {}
for (topic, msg_class) in rmg.topics():
subscribers[topic] = rospy.Subscriber(topic, msg_class, self.msg_cb_topic(topic))
bagpath = os.path.join('/tmp', 'test_rosbag_random_record_%d.bag'%seed)
cmd = ['rosbag', 'play', '-d', str(DELAY), '-r', str(scale)]
rospy.loginfo(str(cmd))
if (self.use_clock):
cmd += ['--clock', '--hz', '100']
cmd += [bagpath]
try:
f1 = subprocess.Popen(cmd)
last_input_count = 0
while (len(self.input) < rmg.message_count()):
# print "\n%d/%d\n"%(len(self.input), rmg.message_count())
time.sleep(1.0)
# abort loop if no input is coming in anymore and process has finished
if len(self.input) == last_input_count:
rc = f1.poll()
if rc is not None:
self.assertEqual(rc, 0)
break
last_input_count = len(self.input)
self.assertEqual(len(self.input), rmg.message_count())
max_late = 0
max_early = 0
avg_off = 0
power = 0
for (expect_topic, expect_msg, expect_time) in rmg.messages():
if (not self.use_clock):
expect_time /= scale
buff = StringIO()
expect_msg.serialize(buff)
expect_msg.deserialize(buff.getvalue())
msg_match = False
for ind in range(0,100):
(input_topic, input_msg, input_time) = self.input[ind]
if (genpy.message.strify_message(expect_msg) == genpy.message.strify_message(input_msg)):
msg_match = True
del self.input[ind]
# stats
diff = input_time - expect_time
if (diff < max_early):
max_early = diff
if (diff > max_late):
max_late = diff
avg_off += diff / rmg.message_count()
power += (diff**2) / rmg.message_count()
# Messages can arrive late, but never very early Both of
# these bounds are much larger than they ought to be, but
# you never know with a heavily loaded system.
self.assertTrue(input_time - expect_time > -.5)
self.assertTrue(abs(input_time - expect_time) < .5)
break
if not msg_match:
print("No match at time: %f" % expect_time)
self.assertTrue(msg_match)
print("%f %f %f %f"%(max_early, max_late, avg_off, power))
finally:
f1.communicate()
self.assertEqual(f1.returncode, 0)
import roslib
roslib.load_manifest('test_rosrecord')
import rospy
import sys
import time
from random_messages import RandomMsgGen
if __name__ == '__main__':
rospy.init_node('random_pub')
if (len(sys.argv) < 2):
raise Exception("Expected seed as first argument")
rmg = RandomMsgGen(int(sys.argv[1]), 10, 10.0)
publishers = {}
for (topic, msg_class) in rmg.topics():
publishers[topic] = rospy.Publisher(topic, msg_class)
r = rospy.Rate(10)
while (not rospy.has_param('/spew')):
r.sleep()
# Sleep an extra 5 seconds for good measure
rospy.sleep(rospy.Duration.from_sec(5.0))
start = rospy.Time.now()
for (topic, msg, time) in rmg.messages():
