def test_stress(self):
''' Stress test the server, lots of raises and clears '''
ab_a = AlarmBroadcaster("alarm_a")
al_a = AlarmListener("alarm_a")
ab_b = AlarmBroadcaster("alarm_b")
al_b = AlarmListener("alarm_b")
al_c = AlarmListener("alarm_c")
ab_c = AlarmBroadcaster("alarm_c")
actions = [ab_a.raise_alarm, ab_b.raise_alarm, ab_c.raise_alarm,
ab_a.clear_alarm, ab_b.clear_alarm, ab_c.clear_alarm]
for i in range(100):
random.choice(actions)()
rospy.sleep(0.01)
# Clear them all as a find state
ab_a.clear_alarm()
ab_b.raise_alarm()
ab_c.raise_alarm()
# Make sure all alarms are correct
self.assertTrue(al_a.is_cleared())
self.assertFalse(al_b.is_cleared())
self.assertFalse(al_c.is_cleared())
# Set everyhing cleared
ab_b.clear_alarm()
ab_c.clear_alarm()
# Make sure of that
self.assertTrue(al_b.is_cleared())
self.assertTrue(al_c.is_cleared())
def test_broadcaster_and_listener(self):
''' Simple broadcaster and listener tests, with arguments '''
ab_a = AlarmBroadcaster("alarm_a")
al_a = AlarmListener("alarm_a")
al_b = AlarmListener("alarm_b")
ab_b = AlarmBroadcaster("alarm_b")
al_c = AlarmListener("alarm_c")
ab_c = AlarmBroadcaster("alarm_c")
# Make sure all the alarm start off clear
self.assertFalse(al_a.is_raised())
self.assertFalse(al_b.is_raised())
self.assertFalse(al_b.is_raised())
# Same as above
self.assertTrue(al_a.is_cleared())
self.assertTrue(al_b.is_cleared())
self.assertTrue(al_c.is_cleared())
# Some args to pass in
_severity = 3
_blank_params = ''
_full_params = {'test': 1, 'test2': 2}
_problem_desc = "This is a test"
# Raise them all, with some arguments
ab_a.raise_alarm(severity=_severity)
ab_b.raise_alarm(severity=_severity, parameters=_blank_params)
ab_c.raise_alarm(problem_description=_problem_desc, parameters=_full_params)
# Make sure all the alarm start off clear
self.assertTrue(al_a.is_raised())
self.assertTrue(al_b.is_raised())
self.assertTrue(al_c.is_raised())
# Make sure alarm values are correct
self.assertEqual(al_a.get_alarm().severity, _severity)
self.assertEqual(al_b.get_alarm().severity, _severity)
self.assertEqual(al_b.get_alarm().parameters, _blank_params)
self.assertEqual(al_c.get_alarm().problem_description, _problem_desc)
self.assertEqual(al_c.get_alarm().parameters, _full_params)
# Now clear the alarms, some again with arguments
ab_a.clear_alarm()
ab_b.clear_alarm(parameters=_full_params)
ab_c.clear_alarm(parameters=_blank_params)
# Make sure all alarms are cleared
self.assertTrue(al_a.is_cleared())
self.assertTrue(al_b.is_cleared())
self.assertTrue(al_c.is_cleared())
# Make sure arugments were passed correctly
self.assertEqual(al_b.get_alarm().parameters, _full_params)
self.assertEqual(al_c.get_alarm().parameters, _blank_params)
#!/usr/bin/env python
import rospy
from ros_alarms import AlarmListener, AlarmBroadcaster
if __name__ == "__main__":
rospy.init_node("broadcaster_listener_test")
ab = AlarmBroadcaster("test_alarm")
al = AlarmListener("test_alarm")
print "Inited"
assert al.is_cleared()
ab.raise_alarm()
assert al.is_raised()
rospy.sleep(0.5)
ab.clear_alarm()
assert al.is_cleared()
rospy.sleep(0.5)
ab.raise_alarm(parameters={
"int": 4,
"list": [1, 2, 3],
"str": "stringing"
})
print "All checks passed"
class killtest(unittest.TestCase):
def __init__(self, *args):
self._current_alarm_state = None
rospy.Subscriber("/diagnostics", DiagnosticArray, self.callback)
super(killtest, self).__init__(*args)
self.AlarmListener = AlarmListener('hw-kill')
self.AlarmBroadcaster = AlarmBroadcaster('kill')
self.AlarmBroadcaster.clear_alarm()
def callback(self, msg):
self._current_alarm_state = msg
def test_AA_initial_state(self): # test the initial state of kill signal
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.1)
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
def test_AB_computer(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
self.AlarmBroadcaster.raise_alarm() # raise the computer alarm
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_raised(),
True,
msg='COMPUTER raise not worked')
self.AlarmBroadcaster.clear_alarm() # clear the computer alarm
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='COMPUTER shutdown not worked')
def test_AC_button_front_port(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
# call the service of button
rospy.wait_for_service('/kill_board_driver/BUTTON_FRONT_PORT')
try:
bfp = rospy.ServiceProxy(
'/kill_board_driver/BUTTON_FRONT_PORT', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bfp(True) # set the button value to true
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(), True,
msg='BUTTON_FRONT_PORT raise not worked')
bfp(False) # shut down the button
# when we shut down the button, we also need to clear the computer
# alarm
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_FRONT_PORT shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AD_button_aft_port(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_driver/BUTTON_AFT_PORT')
try:
bap = rospy.ServiceProxy(
'/kill_board_driver/BUTTON_AFT_PORT', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bap(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(), True,
msg='BUTTTON_AFT_PORT raise not worked')
bap(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTTON_AFT_PORT shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AE_button_front_starboard(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_driver/BUTTON_FRONT_STARBOARD')
try:
bfs = rospy.ServiceProxy(
'/kill_board_driver/BUTTON_FRONT_STARBOARD', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bfs(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(), True,
msg='BUTTON_FRONT_STARBOARD raise not worked')
bfs(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_FRONT_STARBOARD shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AF_button_aft_starboard(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_driver/BUTTON_AFT_STARBOARD')
try:
bas = rospy.ServiceProxy(
'/kill_board_driver/BUTTON_AFT_STARBOARD', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bas(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(), True,
msg='BUTTON_AFT_STARBOARD raise not worked')
bas(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_AFT_STARBOARD shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AG_remote(self):
self.assertEqual(self.AlarmListener.is_cleared(), True,
msg='current state of kill signal is raised')
# publishing msg to network
pub = rospy.Publisher('/network', Header, queue_size=10)
rate = rospy.Rate(10)
t_end = rospy.Time.now() + rospy.Duration(3)
while rospy.Time.now() < t_end:
hello_header = Header()
hello_header.stamp = rospy.Time.now()
rospy.loginfo(hello_header)
pub.publish(hello_header)
rate.sleep()
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='REMOTE shutdown not worked. State = {}'.format(
self._current_alarm_state))
# stop sending the msg, the remote alarm will raise when stop recieving
# the msg for 8 secs
rospy.sleep(8.2)
self.assertEqual(
self.AlarmListener.is_raised(),
True,
msg='REMOTE raised not worked. State = {}'.format(
self._current_alarm_state))
class killtest(unittest.TestCase):
def __init__(self, *args):
self._current_alarm_state = None
rospy.Subscriber("/diagnostics", DiagnosticArray, self.callback)
super(killtest, self).__init__(*args)
self.AlarmListener = AlarmListener('hw-kill')
self.AlarmBroadcaster = AlarmBroadcaster('kill')
self.AlarmBroadcaster.clear_alarm()
def callback(self, msg):
self._current_alarm_state = msg
def test_AA_initial_state(self): # test the initial state of kill signal
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.1)
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
def test_AB_computer(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
self.AlarmBroadcaster.raise_alarm() # raise the computer alarm
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='COMPUTER raise not worked')
self.AlarmBroadcaster.clear_alarm() # clear the computer alarm
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='COMPUTER shutdown not worked')
def test_AC_button_front_port(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
# call the service of button
rospy.wait_for_service('/kill_board_interface/BUTTON_FRONT_PORT')
try:
bfp = rospy.ServiceProxy('/kill_board_interface/BUTTON_FRONT_PORT',
SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bfp(True) # set the button value to true
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='BUTTON_FRONT_PORT raise not worked')
bfp(False) # shut down the button
# when we shut down the button, we also need to clear the computer
# alarm
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_FRONT_PORT shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AD_button_aft_port(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_interface/BUTTON_AFT_PORT')
try:
bap = rospy.ServiceProxy('/kill_board_interface/BUTTON_AFT_PORT',
SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bap(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='BUTTTON_AFT_PORT raise not worked')
bap(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTTON_AFT_PORT shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AE_button_front_starboard(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_interface/BUTTON_FRONT_STARBOARD')
try:
bfs = rospy.ServiceProxy(
'/kill_board_interface/BUTTON_FRONT_STARBOARD', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bfs(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='BUTTON_FRONT_STARBOARD raise not worked')
bfs(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_FRONT_STARBOARD shutdown not worked. State = {}'.
format(self._current_alarm_state))
def test_AF_button_aft_starboard(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
rospy.wait_for_service('/kill_board_interface/BUTTON_AFT_STARBOARD')
try:
bas = rospy.ServiceProxy(
'/kill_board_interface/BUTTON_AFT_STARBOARD', SetBool)
except rospy.ServiceException as e:
print "Service call failed: %s" % e
bas(True)
rospy.sleep(0.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='BUTTON_AFT_STARBOARD raise not worked')
bas(False)
self.AlarmBroadcaster.clear_alarm()
rospy.sleep(0.2)
self.assertEqual(
self.AlarmListener.is_cleared(),
True,
msg='BUTTON_AFT_STARBOARD shutdown not worked. State = {}'.format(
self._current_alarm_state))
def test_AG_remote(self):
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='current state of kill signal is raised')
# publishing msg to network
pub = rospy.Publisher('/network', Header, queue_size=10)
rate = rospy.Rate(10)
t_end = rospy.Time.now() + rospy.Duration(3)
while rospy.Time.now() < t_end:
hello_header = Header()
hello_header.stamp = rospy.Time.now()
rospy.loginfo(hello_header)
pub.publish(hello_header)
rate.sleep()
self.assertEqual(self.AlarmListener.is_cleared(),
True,
msg='REMOTE shutdown not worked. State = {}'.format(
self._current_alarm_state))
# stop sending the msg, the remote alarm will raise when stop recieving
# the msg for 8 secs
rospy.sleep(8.2)
self.assertEqual(self.AlarmListener.is_raised(),
True,
msg='REMOTE raised not worked. State = {}'.format(
self._current_alarm_state))
