def rosrun(package, test_name, test, sysargs=None):
"""
Run a rostest/unittest-based integration test.
@param package: name of package that test is in
@type package: str
@param test_name: name of test that is being run
@type test_name: str
@param test: a test case instance or a name resolving to a test case or suite
@type test: unittest.TestCase, or string
@param sysargs: command-line args. If not specified, this defaults to sys.argv. rostest
will look for the --text and --gtest_output parameters
@type sysargs: list
"""
if sysargs is None:
# lazy-init sys args
import sys
sysargs = sys.argv
#parse sysargs
result_file = None
for arg in sysargs:
if arg.startswith(XML_OUTPUT_FLAG):
result_file = arg[len(XML_OUTPUT_FLAG):]
text_mode = '--text' in sysargs
coverage_mode = '--cov' in sysargs
if coverage_mode:
_start_coverage([package])
import unittest
import rospy
suite = None
if isinstance(test, str):
suite = unittest.TestLoader().loadTestsFromName(test)
else:
# some callers pass a TestCase type (instead of an instance)
suite = unittest.TestLoader().loadTestsFromTestCase(test)
if text_mode:
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
result = rosunit.create_xml_runner(package, test_name,
result_file).run(suite)
if coverage_mode:
_stop_coverage([package])
rosunit.print_unittest_summary(result)
# shutdown any node resources in case test forgets to
rospy.signal_shutdown('test complete')
if not result.wasSuccessful():
import sys
sys.exit(1)
def test_main():
(package, name, launch_arguments, pause, text_mode) = _parse_arguments()
rocon_launcher = rocon_utilities.find_resource(package, name) # raises an IO error if there is a problem.
launchers = rocon_utilities.parse_rocon_launcher(rocon_launcher, launch_arguments)
results_log_name, results_file = loggers.configure_logging(package, rocon_launcher)
try:
test_case = runner.create_unit_rocon_test(rocon_launcher, launchers)
suite = unittest.TestLoader().loadTestsFromTestCase(test_case)
if pause:
runner.set_pause_mode(True)
if text_mode:
runner.set_text_mode(True)
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
xml_runner = rosunit.create_xml_runner(package, results_log_name, \
results_file=results_file, \
is_rostest=True)
result = xml_runner.run(suite)
finally:
# really make sure that all of our processes have been killed (should be automatic though)
test_parents = runner.get_rocon_test_parents()
for r in test_parents:
r.tearDown()
del test_parents[:]
pmon_shutdown()
subtest_results = runner.get_results()
################################
# Post stuff
################################
config = rostest.runner.getConfig()
if config:
if config.config_errors:
print("\n[ROCON_TEST WARNINGS]" + '-' * 62 + '\n', file=sys.stderr)
for err in config.config_errors:
print(" * %s" % err, file=sys.stderr)
print('')
if not text_mode:
printRostestSummary(result, subtest_results)
loggers.printlog("results log file is in %s" % results_file)
# This is not really a useful log, so dont worry about showing it.
# if log_name:
# loggers.printlog("rocon_test log file is in %s" % log_name)
if not result.wasSuccessful():
sys.exit(1)
elif subtest_results.num_errors or subtest_results.num_failures:
sys.exit(2)
def rosrun(package, test_name, test, sysargs=None):
"""
Run a rostest/unittest-based integration test.
@param package: name of package that test is in
@type package: str
@param test_name: name of test that is being run
@type test_name: str
@param test: a test case instance or a name resolving to a test case or suite
@type test: unittest.TestCase, or string
@param sysargs: command-line args. If not specified, this defaults to sys.argv. rostest
will look for the --text and --gtest_output parameters
@type sysargs: list
"""
if sysargs is None:
# lazy-init sys args
import sys
sysargs = sys.argv
#parse sysargs
result_file = None
for arg in sysargs:
if arg.startswith(XML_OUTPUT_FLAG):
result_file = arg[len(XML_OUTPUT_FLAG):]
text_mode = '--text' in sysargs
coverage_mode = '--cov' in sysargs
if coverage_mode:
_start_coverage([package])
import unittest
import rospy
suite = None
if issubclass(test, unittest.TestCase):
suite = unittest.TestLoader().loadTestsFromTestCase(test)
else:
suite = unittest.TestLoader().loadTestsFromName(test)
if text_mode:
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
result = rosunit.create_xml_runner(package, test_name, result_file).run(suite)
if coverage_mode:
_stop_coverage([package])
rosunit.print_unittest_summary(result)
# shutdown any node resources in case test forgets to
rospy.signal_shutdown('test complete')
if not result.wasSuccessful():
import sys
sys.exit(1)
def test_main():
(package, name, launch_arguments, pause, text_mode, results_filename,
results_base_dir) = _parse_arguments()
if os.path.isabs(name):
if os.path.exists(name):
rocon_launcher = name
else:
raise IOError("cannot locate [%s]" % name)
else:
rocon_launcher = rocon_python_utils.ros.find_resource(
package, name) # raises an IO error if there is a problem.
env = None
if results_base_dir:
env = {ROS_TEST_RESULTS_DIR: results_base_dir}
if results_filename:
results_log_name = results_filename
if '.' in results_log_name:
results_log_name = results_log_name[:results_log_name.rfind('.')]
results_log_file = xmlResultsFile(package,
results_log_name,
is_rostest=True,
env=env)
results_log_file = results_log_file.replace("rostest", "rocon_test")
else:
results_log_name, results_log_file = loggers.configure_logging(
package, rocon_launcher)
# launchers is of type rocon_launch.RosLaunchConfiguration[]
launchers = rocon_launch.parse_rocon_launcher(rocon_launcher,
launch_arguments,
args_mappings={})
try:
test_case = runner.create_unit_rocon_test(rocon_launcher, launchers)
suite = unittest.TestLoader().loadTestsFromTestCase(test_case)
if pause:
runner.set_pause_mode(True)
if text_mode:
runner.set_text_mode(True)
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
xml_runner = rosunit.create_xml_runner(
package,
results_log_name,
results_file=results_log_file,
is_rostest=True)
result = xml_runner.run(suite)
finally:
# really make sure that all of our processes have been killed (should be automatic though)
test_parents = runner.get_rocon_test_parents()
for r in test_parents:
r.tearDown()
del test_parents[:]
pmon_shutdown()
subtest_results = runner.get_results()
################################
# Post stuff
################################
config = rostest.runner.getConfig()
if config:
if config.config_errors:
print("\n[ROCON_TEST WARNINGS]" + '-' * 62 + '\n', file=sys.stderr)
for err in config.config_errors:
print(" * %s" % err, file=sys.stderr)
print('')
if not text_mode:
printRostestSummary(result, subtest_results)
loggers.printlog("results log file is in %s" % results_log_file)
# This is not really a useful log, so dont worry about showing it.
# if log_name:
# loggers.printlog("rocon_test log file is in %s" % log_name)
if not result.wasSuccessful():
sys.exit(1)
elif subtest_results.num_errors or subtest_results.num_failures:
sys.exit(2)
