def test_compare_configuration_13(self):
config_a = configuration()
config_a.nodes.append(
node_configuration(name="node1",
pub_topic=["/topic1"],
sub_topic=[]))
config_a.nodes.append(
node_configuration(name="node2",
pub_topic=["/topic2"],
sub_topic=["/topic1"]))
config_a.observers.append(
observer_configuration(type="resource", resource=["node1"]))
config_a.observers.append(
observer_configuration(type="hz", resource=["node2"]))
config_b = configuration()
config_b.nodes.append(
node_configuration(name="node1",
pub_topic=["/topic1"],
sub_topic=[]))
config_b.nodes.append(
node_configuration(name="node2",
pub_topic=["/topic2"],
sub_topic=["/topic1"]))
config_b.observers.append(
observer_configuration(type="resource",
resource=["node1", "node2"]))
config_b.observers.append(
observer_configuration(type="hz", resource=["node2"]))
self.assertFalse(compare_configuration(config_a, config_b),
"configurations not equal!")
def test_minimize_config_2(self):
config_a = configuration()
config_a.nodes.append(
node_configuration(name="node1",
pub_topic=["/topic1"],
sub_topic=[]))
config_a.nodes.append(
node_configuration(name="node2",
pub_topic=["/topic2"],
sub_topic=["/topic1"]))
config_a.nodes.append(
node_configuration(name="node3",
pub_topic=["/topic3"],
sub_topic=["/topic2"]))
config_a.observers.append(
observer_configuration(type="resource", resource=["node1"]))
config_required = configuration()
config_required.nodes.append(
node_configuration(name="node1", pub_topic=[], sub_topic=[]))
config_required.observers.append(
observer_configuration(type="resource", resource=["node1"]))
DiagnosisConfigValidator.minimize_config(config_a)
self.assertTrue(compare_configuration(config_a, config_required),
"configurations not equal!")
if __name__ == "__main__":
rospy.init_node('tug_diagnosis_config_validator', anonymous=False)
# config_a = configuration()
# # config_a.nodes.append(node_configuration(name="node1", pub_topic=["/topic1"], sub_topic=[]))
# # config_a.nodes.append(node_configuration(name="node2", pub_topic=[], sub_topic=[]))
# # config_a.nodes.append(node_configuration(name="node2", pub_topic=["/topic2"], sub_topic=["/topic1"]))
# # config_a.nodes.append(node_configuration(name="node3", pub_topic=["/topic3"], sub_topic=["/topic1", "/topic2"]))
# # config_a.nodes.append(node_configuration(name="node3", pub_topic=[], sub_topic=[]))
# # config_a.observers.append(observer_configuration(type="hz", resource=["/topic1"]))
# # config_a.observers.append(observer_configuration(type="hz", resource=["/topic2"]))
# # config_a.observers.append(observer_configuration(type="resource", resource=["node3"]))
#
a_config = configuration()
a_config.nodes.append(
node_configuration(name="node1", pub_topic=["/topic1"], sub_topic=[]))
a_config.nodes.append(
node_configuration(name="node2",
pub_topic=["/topic2"],
sub_topic=["/topic1"]))
a_config.nodes.append(
node_configuration(name="node3",
pub_topic=["/topic3"],
sub_topic=["/topic2"]))
# config_a.observers.append(observer_configuration(type="movement", resource=["/topic1", "/topic2"]))
a_config.observers.append(
observer_configuration(type="resource", resource=["node1"]))
a_config.observers.append(
observer_configuration(type="resource", resource=["node2"]))
a_config.observers.append(
rospy.init_node('tug_diagnosis_initialization', anonymous=False)
rospy.loginfo("tug_diagnosis_initialization: starting")
rospy.loginfo("tug_diagnosis_initialization: load config")
configs = rospy.get_param('/tug_diagnosis_initialization_node')
model_configuration = configuration()
rospy.loginfo("tug_diagnosis_initialization: load nodes")
for node in YamlHelper.get_param(configs, 'nodes'):
name = YamlHelper.get_param(node, 'name')
sub_topic = YamlHelper.get_param(node, 'sub_topic', [])
pub_topic = YamlHelper.get_param(node, 'pub_topic', [])
model_configuration.nodes.append(
node_configuration(name=str(name),
pub_topic=list(pub_topic),
sub_topic=list(sub_topic)))
rospy.loginfo("tug_diagnosis_initialization: load observers")
for observation in YamlHelper.get_param(configs, 'observations'):
type = YamlHelper.get_param(observation, 'type')
resource = []
if YamlHelper.has_key(observation, 'nodes'):
resource = YamlHelper.get_param(observation, 'nodes', [])
elif YamlHelper.has_key(observation, 'topics'):
resource = YamlHelper.get_param(observation, 'topics', [])
model_configuration.observers.append(
observer_configuration(type=str(type), resource=list(resource)))
