def prepare_launch_configurations(turtles):
"""
:param Turtle[] turtles:
"""
port = 11
launch_text = '<concert>\n'
for turtle in turtles:
launch_text += ' <launch title="%s:114%s" package="concert_service_turtlesim" name="turtle.launch" port="114%s">\n' % (
turtle.unique_name, str(port), str(port))
launch_text += ' <arg name="turtle_name" value="%s"/>\n' % turtle.unique_name
launch_text += ' <arg name="turtle_concert_whitelist" value="%s"/>\n' % str(
turtle.concert_whitelist
) # e.g. [Turtle Concert, Turtle Teleop Concert, Concert Tutorial]
launch_text += ' <arg name="turtle_rapp_whitelist" value="%s"/>\n' % str(
turtle.rapp_whitelist) # e.g. [rocon_apps, turtle_concert]
launch_text += ' </launch>\n'
port = port + 1
launch_text += '</concert>\n'
temp = tempfile.NamedTemporaryFile(mode='w+t', delete=False)
#print("\n" + console.green + rocon_launch_text + console.reset)
temp.write(launch_text)
#rospy.logwarn("Turtle Herder: rocon launch text\n%s" % launch_text)
temp.close() # unlink it later
launch_configurations = rocon_launch.parse_rocon_launcher(
temp.name, "--screen")
try:
os.unlink(temp.name)
except OSError:
rospy.logerr("Turtle Herder : failed to unlink the rocon launcher.")
return launch_configurations
def _launch_robot_clients(self, robots):
"""
Spawn concert clients for given named robot.
:param robot_names str[]: Names of all robots.
"""
# spawn the concert clients
rocon_launch_text = self._prepare_rocon_launch_text(robots)
self.loginfo("constructing robot client rocon launcher")
#print("\n" + console.green + rocon_launch_text + console.reset)
temp = tempfile.NamedTemporaryFile(mode='w+t', delete=False)
temp.write(rocon_launch_text)
temp.close()
launch_configurations = rocon_launch.parse_rocon_launcher(
temp.name, "--screen")
try:
os.unlink(temp.name)
except OSError:
self.logerr("failed to unlink the rocon launcher.")
for launch_configuration in launch_configurations:
self.loginfo(
"launching concert client %s on port %s" %
(launch_configuration.name, launch_configuration.port))
#print("%s" % launch_configuration)
process, meta_roslauncher = self._terminal.spawn_roslaunch_window(
launch_configuration)
self._processes.append(process)
self._temporary_files.append(meta_roslauncher)
def prepare_launch_configurations(turtles):
"""
:param Turtle[] turtles:
"""
port = 11
launch_text = "<concert>\n"
for turtle in turtles:
launch_text += ' <launch title="%s:114%s" package="rostful_examples" name="turtle.launch" port="114%s">\n' % (
turtle.unique_name,
str(port),
str(port),
)
launch_text += ' <arg name="turtle_name" value="%s"/>\n' % turtle.unique_name
launch_text += ' <arg name="turtle_concert_whitelist" value="%s"/>\n' % str(
turtle.concert_whitelist
) # e.g. [Turtle Concert, Turtle Teleop Concert, Concert Tutorial]
launch_text += ' <arg name="turtle_rapp_whitelist" value="%s"/>\n' % str(
turtle.rapp_whitelist
) # e.g. [rocon_apps, turtle_concert]
launch_text += ' <arg name="disable_zeroconf" value="%s"/>\n' % str(
turtle.disable_zeroconf
) # e.g. [True, False]
launch_text += ' <arg name="rostful_port" value="%s"/>\n' % str(turtle.rostful_port) # e.g. [True, False]
launch_text += ' <arg name="rosbridge_port" value="%s"/>\n' % str(
turtle.rosbridge_port
) # e.g. [True, False]
launch_text += " </launch>\n"
port = port + 1
launch_text += "</concert>\n"
temp = tempfile.NamedTemporaryFile(mode="w+t", delete=False)
# print("\n" + console.green + rocon_launch_text + console.reset)
temp.write(launch_text)
# rospy.logwarn("Turtle Herder: rocon launch text\n%s" % launch_text)
temp.close() # unlink it later
launch_configurations = rocon_launch.parse_rocon_launcher(temp.name, "--screen")
try:
os.unlink(temp.name)
except OSError:
rospy.logerr("Turtle Herder : failed to unlink the rocon launcher.")
return launch_configurations
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)