def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
# we still need a node to interact with topics
rospy.init_node('TestStringTopic',
anonymous=True,
disable_signals=True)
def teardown_module():
if not rostest_nose.is_rostest_enabled():
# finishing all process are finished
if pub_process is not None:
pub_process.stop()
if echo_process is not None:
echo_process.stop()
if slow_process is not None:
slow_process.stop()
rostest_nose.rostest_nose_teardown_module()
def test_rostest_detection(self):
# check that pyros_utils/rostest_nose is usable even without delay import magic
from pyros_utils import rostest_nose
print("Checking rostest detection...")
# checking detection works properly
assert rostest_nose.is_rostest_enabled()
# checking setup is done as expected
# wait for the node to come up
with timeout(5) as t:
while not t.timed_out and not rosnode.rosnode_ping("string_pub_node", max_count=1):
time.sleep(1)
# TODO: improve this
assert rosnode.rosnode_ping("string_pub_node", max_count=5)
def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
# Start roslaunch
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
# start required nodes - needs to match the content of *.test files for rostest to match
global pub_process, echo_process, slow_process
rospy.set_param('/echo_node/echo_service_name', 'test_service')
echo_node = roslaunch.core.Node('pyros_test',
'echo.py',
name='echo_node')
try:
echo_process = launch.launch(echo_node)
except roslaunch.RLException as rlexc:
logging.error(
"pyros_test is needed to run this test. Please verify that it is installed in your ROS environment"
)
raise
rospy.set_param('/slow_node/slow_service_name', 'test_timeout_service')
slow_node = roslaunch.core.Node('pyros_test',
'string_slow_node.py',
name='slow_node')
try:
slow_process = launch.launch(slow_node)
except roslaunch.RLException as rlexc:
logging.error(
"pyros_test is needed to run this test. Please verify that it is installed in your ROS environment"
)
raise
# set required parameters - needs to match the content of *.test files for rostest to match
rospy.set_param('/stringServiceTest/echo_service_name', 'test_service')
rospy.set_param('/stringServiceTest/slow_service_name',
'test_timeout_service')
# we still need a node to interact with topics
rospy.init_node('TestStringService',
anonymous=True,
disable_signals=True)
def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
# Using pubs and subs require us to be a node
rospy.init_node('test_publisher_if_pool', argv=None, disable_signals=True)
def teardown_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_teardown_module()
def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
# Providing services require us to be a node
rospy.init_node('test_service_if_pool', argv=None, disable_signals=True)
# 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
nose.runmodule()
def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
