def test_get_test_results_dir(self):
from roslib.rosenv import get_ros_root, get_test_results_dir
import tempfile, os
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
}
self.assertEquals(ros_test_results_dir, get_test_results_dir(env=env))
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir}
self.assertEquals(os.path.join(ros_home_dir, 'test_results'),
get_test_results_dir(env=env))
env = {'ROS_ROOT': get_ros_root()}
self.assertEquals(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
self.assert_(get_test_results_dir() is not None)
def test_command_line(self):
from subprocess import Popen, PIPE
from roslib.rosenv import get_ros_root
# ros has no deps. this test is also a tripwire for crasher bug
output = Popen(['roscreate-stack', get_ros_root(), '--show-deps'], stdout=PIPE, stderr=PIPE).communicate()
self.assertEquals('', output[0].strip())
self.assertEquals('', output[1].strip())
# go into fake environment
d = roslib.packages.get_pkg_dir('test_roscreate')
d = os.path.join(d, 'test', 'fake-pkg')
# manipulate our environment as roscreate-stack is dependent on this
os.environ['ROS_PACKAGE_PATH'] = d
stack1 = os.path.join(d, 'stack1')
stack2 = os.path.join(d, 'stack2')
output = Popen(['roscreate-stack', stack1, '--show-deps'], stdout=PIPE, stderr=PIPE).communicate()
self.assertEquals('<depend stack="ros"/> <!-- roslib -->', output[0].strip())
self.assertEquals('', output[1].strip())
output = Popen(['roscreate-stack', stack2, '--show-deps'], stdout=PIPE, stderr=PIPE).communicate()
self.assert_('<depend stack="ros"/>' in output[0], output[0])
self.assert_('<depend stack="stack1"/>' in output[0], output[0])
self.assertEquals(2, len(output[0].strip().split('\n')))
self.assertEquals('', output[1].strip())
def test_get_ros_home(self):
from roslib.rosenv import get_ros_root, get_ros_home
import tempfile, os
base = tempfile.gettempdir()
ros_home_dir = os.path.join(base, 'ros_home_dir')
home_dir = os.path.expanduser('~')
# ROS_HOME has precedence
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir }
self.assertEquals(ros_home_dir, get_ros_home(env=env))
env = {'ROS_ROOT': get_ros_root()}
self.assertEquals(os.path.join(home_dir, '.ros'), get_ros_home(env=env))
# test default assignment of env. Don't both checking return value
self.assert_(get_ros_home() is not None)
def test_get_ros_home(self):
from roslib.rosenv import get_ros_root, get_ros_home
import tempfile, os
base = tempfile.gettempdir()
ros_home_dir = os.path.join(base, 'ros_home_dir')
home_dir = os.path.expanduser('~')
# ROS_HOME has precedence
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir}
self.assertEquals(ros_home_dir, get_ros_home(env=env))
env = {'ROS_ROOT': get_ros_root()}
self.assertEquals(os.path.join(home_dir, '.ros'),
get_ros_home(env=env))
# test default assignment of env. Don't both checking return value
self.assert_(get_ros_home() is not None)
def test_get_test_results_dir(self):
from roslib.rosenv import get_ros_root, get_test_results_dir
import tempfile, os
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 }
self.assertEquals(ros_test_results_dir, get_test_results_dir(env=env))
env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir }
self.assertEquals(os.path.join(ros_home_dir, 'test_results'), get_test_results_dir(env=env))
env = {'ROS_ROOT': get_ros_root()}
self.assertEquals(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
self.assert_(get_test_results_dir() is not None)
def test_on_ros_path(self):
from roslib.rosenv import on_ros_path, get_ros_root, resolve_paths, get_ros_package_path
self.assert_(on_ros_path(get_ros_root()))
# this test should be on ros_path
self.assert_(on_ros_path('.'))
self.assert_(on_ros_path('test_roslib_rosenv.py'))
paths = resolve_paths(get_ros_package_path()).split(os.pathsep)
for p in paths:
self.assert_(on_ros_path(p), "failed: %s, [%s]" % (p, paths))
self.failIf(on_ros_path(os.tempnam()))
def test_get_ros_root(self):
from roslib.rosenv import get_ros_root
self.assertEquals(None, get_ros_root(required=False, env={}))
self.assertEquals(None, get_ros_root(False, {}))
try:
get_ros_root(required=True, env={})
self.fail("get_ros_root should have failed")
except: pass
env = {'ROS_ROOT': '/fake/path'}
self.assertEquals('/fake/path', get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except: pass
def test_get_ros_root(self):
from roslib.rosenv import get_ros_root
self.assertEquals(None, get_ros_root(required=False, env={}))
self.assertEquals(None, get_ros_root(False, {}))
try:
get_ros_root(required=True, env={})
self.fail("get_ros_root should have failed")
except:
pass
env = {'ROS_ROOT': '/fake/path'}
self.assertEquals('/fake/path', get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except:
pass
def start(self):
"""
Start the process.
@raise pmon.FatalProcessLaunch: if process cannot be started and it
is not likely to ever succeed
"""
super(LocalProcess, self).start()
try:
self.lock.acquire()
self.started = self.stopped = False
full_env = self.env
# _configure_logging() can mutate self.args
try:
logfileout, logfileerr = self._configure_logging()
except Exception as e:
printerrlog('[%s] ERROR: unable to configure logging [%s]' %
(self.name, str(e)))
# it's not safe to inherit from this process as
# rostest changes stdout to a StringIO, which is not a
# proper file.
logfileout, logfileerr = subprocess.PIPE, subprocess.PIPE
if self.cwd == 'node':
cwd = os.path.dirname(self.args[0])
elif self.cwd == 'cwd':
cwd = os.getcwd()
elif self.cwd == 'ros-root':
from roslib.rosenv import get_ros_root
cwd = get_ros_root()
else:
cwd = rospkg.get_ros_home()
if not os.path.exists(cwd):
try:
os.makedirs(cwd)
except OSError:
# exist_ok=True
pass
try:
self.popen = subprocess.Popen(self.args,
cwd=cwd,
stdout=logfileout,
stderr=logfileerr,
env=full_env,
close_fds=True,
preexec_fn=os.setsid)
except OSError as e:
self.started = True # must set so is_alive state is correct
if e.errno == errno.ENOEXEC: # Exec format error
raise pmon.FatalProcessLaunch(
"Unable to launch [%s]. \nIf it is a script, you may be missing a '#!' declaration at the top."
% self.name)
elif e.errno == errno.ENOENT: # no such file or directory
raise pmon.FatalProcessLaunch(
"""Roslaunch got a '%s' error while attempting to run:
%s
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.""" %
(msg, ' '.join(self.args)))
else:
raise pmon.FatalProcessLaunch('unable to launch [%s]: %s' %
(' '.join(self.args), msg))
self.started = True
# Check that the process is either still running (poll returns
# None) or that it completed successfully since when we
# launched it above (poll returns the return code, 0).
poll_result = self.popen.poll()
if poll_result is None or poll_result == 0:
self.pid = self.popen.pid
printlog_bold('process[%s]: started with pid [%s]' %
(self.name, self.pid))
return True
else:
printerrlog('failed to start local process: %s' %
(' '.join(self.args)))
return False
finally:
self.lock.release()
def test_get_ros_root(self):
from roslib.rosenv import get_ros_root
self.assertEquals(None, get_ros_root(required=False, env={}))
self.assertEquals(None, get_ros_root(False, {}))
try:
get_ros_root(required=True, env={})
self.fail("get_ros_root should have failed")
except:
pass
env = {'ROS_ROOT': '/fake/path'}
self.assertEquals('/fake/path', get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except:
pass
real_ros_root = get_ros_root(required=True)
# make sure that ros root is a directory
p = os.path.join(real_ros_root, 'Makefile')
env = {'ROS_ROOT': p}
self.assertEquals(p, get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except:
pass
def test_get_ros_root(self):
from roslib.rosenv import get_ros_root
self.assertEquals(None, get_ros_root(required=False, env={}))
self.assertEquals(None, get_ros_root(False, {}))
try:
get_ros_root(required=True, env={})
self.fail("get_ros_root should have failed")
except: pass
env = {'ROS_ROOT': '/fake/path'}
self.assertEquals('/fake/path', get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except: pass
real_ros_root = get_ros_root(required=True)
# make sure that ros root is a directory
p = os.path.join(real_ros_root, 'Makefile')
env = {'ROS_ROOT': p}
self.assertEquals(p, get_ros_root(required=False, env=env))
try:
get_ros_root(required=True, env=env)
self.fail("get_ros_root should have failed")
except: pass
