def rostestmain():
import roslaunch.rlutil
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME)
parser.add_option("-t", "--text",
action="store_true", dest="text_mode", default=False,
help="Run with stdout output instead of XML output")
parser.add_option("--pkgdir", metavar="PKG_DIR",
dest="pkg_dir", default=None,
help="package dir")
parser.add_option("--package", metavar="PACKAGE",
dest="package", default=None,
help="package")
parser.add_option("--results-filename", metavar="RESULTS_FILENAME",
dest="results_filename", default=None,
help="results_filename")
(options, args) = parser.parse_args()
try:
args = roslaunch.rlutil.resolve_launch_arguments(args)
except roslaunch.core.RLException as e:
print(str(e), file=sys.stderr)
sys.exit(1)
# make sure all loggers are configured properly
logfile_name = configure_logging()
logger = logging.getLogger('rostest')
import roslaunch.core
roslaunch.core.add_printlog_handler(logger.info)
roslaunch.core.add_printerrlog_handler(logger.error)
logger.info('rostest starting with options %s, args %s'%(options, args))
if len(args) == 0:
parser.error("You must supply a test file argument to rostest.")
if len(args) != 1:
parser.error("rostest only accepts a single test file")
# compute some common names we'll be using to generate test names and files
test_file = args[0]
if options.pkg_dir and options.package:
# rosbuild2: the build system knows what package and directory, so let it tell us,
# instead of shelling back out to rospack
pkg_dir, pkg = options.pkg_dir, options.package
else:
pkg = rospkg.get_package_name(test_file)
r = rospkg.RosPack()
pkg_dir = r.get_path(pkg)
if options.results_filename:
outname = options.results_filename
if '.' in outname:
outname = outname[:outname.rfind('.')]
else:
outname = rostest_name_from_path(pkg_dir, test_file)
# #1140
if not os.path.isfile(test_file):
results_file = xmlResultsFile(pkg, outname, True)
write_bad_filename_failure(test_file, results_file, outname)
parser.error("test file is invalid. Generated failure case result file in %s"%results_file)
try:
testCase = rostest.runner.createUnitTest(pkg, test_file)
suite = unittest.TestLoader().loadTestsFromTestCase(testCase)
if options.text_mode:
rostest.runner.setTextMode(True)
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
is_rostest = True
results_file = xmlResultsFile(pkg, outname, is_rostest)
xml_runner = createXMLRunner(pkg, outname, \
results_file=results_file, \
is_rostest=is_rostest)
result = xml_runner.run(suite)
finally:
# really make sure that all of our processes have been killed
test_parents = rostest.runner.getRostestParents()
for r in test_parents:
logger.info("finally rostest parent tearDown [%s]", r)
r.tearDown()
del test_parents[:]
from roslaunch.pmon import pmon_shutdown
logger.info("calling pmon_shutdown")
pmon_shutdown()
logger.info("... done calling pmon_shutdown")
# print config errors after test has run so that we don't get caught up in .xml results
config = rostest.runner.getConfig()
if config:
if config.config_errors:
print("\n[ROSTEST WARNINGS]"+'-'*62+'\n', file=sys.stderr)
for err in config.config_errors:
print(" * %s"%err, file=sys.stderr)
print('')
# summary is worthless if textMode is on as we cannot scrape .xml results
subtest_results = rostest.runner.getResults()
if not options.text_mode:
printRostestSummary(result, subtest_results)
else:
print("WARNING: overall test result is not accurate when --text is enabled")
if logfile_name:
print("rostest log file is in %s"%logfile_name)
if not result.wasSuccessful():
sys.exit(1)
elif subtest_results.num_errors or subtest_results.num_failures:
sys.exit(2)
def rostestmain():
import roslaunch.rlutil
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog [options] [package] <filename>", prog=_NAME)
parser.add_option("-t", "--text",
action="store_true", dest="text_mode", default=False,
help="Run with stdout output instead of XML output")
parser.add_option("--pkgdir", metavar="PKG_DIR",
dest="pkg_dir", default=None,
help="package dir")
parser.add_option("--package", metavar="PACKAGE",
dest="package", default=None,
help="package")
parser.add_option("--results-filename", metavar="RESULTS_FILENAME",
dest="results_filename", default=None,
help="results_filename")
parser.add_option("--results-base-dir", metavar="RESULTS_BASE_DIR",
help="The base directory of the test results. The test result file is " +
"created in a subfolder name PKG_DIR.")
(options, args) = parser.parse_args()
try:
args = roslaunch.rlutil.resolve_launch_arguments(args)
except roslaunch.core.RLException as e:
print(str(e), file=sys.stderr)
sys.exit(1)
# make sure all loggers are configured properly
logfile_name = configure_logging()
logger = logging.getLogger('rostest')
import roslaunch.core
roslaunch.core.add_printlog_handler(logger.info)
roslaunch.core.add_printerrlog_handler(logger.error)
logger.info('rostest starting with options %s, args %s'%(options, args))
if len(args) == 0:
parser.error("You must supply a test file argument to rostest.")
if len(args) != 1:
parser.error("rostest only accepts a single test file")
# compute some common names we'll be using to generate test names and files
test_file = args[0]
if options.pkg_dir and options.package:
# rosbuild2: the build system knows what package and directory, so let it tell us,
# instead of shelling back out to rospack
pkg_dir, pkg = options.pkg_dir, options.package
else:
pkg = rospkg.get_package_name(test_file)
r = rospkg.RosPack()
pkg_dir = r.get_path(pkg)
if options.results_filename:
outname = options.results_filename
if '.' in outname:
outname = outname[:outname.rfind('.')]
else:
outname = rostest_name_from_path(pkg_dir, test_file)
env = None
if options.results_base_dir:
env = {ROS_TEST_RESULTS_DIR: options.results_base_dir}
# #1140
if not os.path.isfile(test_file):
results_file = xmlResultsFile(pkg, outname, True, env=env)
write_bad_filename_failure(test_file, results_file, outname)
parser.error("test file is invalid. Generated failure case result file in %s"%results_file)
try:
testCase = rostest.runner.createUnitTest(pkg, test_file)
suite = unittest.TestLoader().loadTestsFromTestCase(testCase)
if options.text_mode:
rostest.runner.setTextMode(True)
result = unittest.TextTestRunner(verbosity=2).run(suite)
else:
is_rostest = True
results_file = xmlResultsFile(pkg, outname, is_rostest, env=env)
xml_runner = createXMLRunner(pkg, outname, \
results_file=results_file, \
is_rostest=is_rostest)
result = xml_runner.run(suite)
finally:
# really make sure that all of our processes have been killed
test_parents = rostest.runner.getRostestParents()
for r in test_parents:
logger.info("finally rostest parent tearDown [%s]", r)
r.tearDown()
del test_parents[:]
from roslaunch.pmon import pmon_shutdown
logger.info("calling pmon_shutdown")
pmon_shutdown()
logger.info("... done calling pmon_shutdown")
# print config errors after test has run so that we don't get caught up in .xml results
config = rostest.runner.getConfig()
if config:
if config.config_errors:
print("\n[ROSTEST WARNINGS]"+'-'*62+'\n', file=sys.stderr)
for err in config.config_errors:
print(" * %s"%err, file=sys.stderr)
print('')
# summary is worthless if textMode is on as we cannot scrape .xml results
subtest_results = rostest.runner.getResults()
if not options.text_mode:
printRostestSummary(result, subtest_results)
else:
print("WARNING: overall test result is not accurate when --text is enabled")
if logfile_name:
print("rostest log file is in %s"%logfile_name)
if not result.wasSuccessful():
sys.exit(1)
elif subtest_results.num_errors or subtest_results.num_failures:
sys.exit(2)
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)
def runTest(self):
self.failIf(self.package is None, "unable to determine package of executable")
done = False
while not done:
test_name = self.test_name
printlog("Running test [%s]", test_name)
#setup the test
# - we pass in the output test_file name so we can scrape it
test_file = xmlResultsFile(self.package, test_name, False)
if os.path.exists(test_file):
printlog("removing previous test results file [%s]", test_file)
os.remove(test_file)
self.args.append('--gtest_output=xml:%s'%test_file)
# run the test, blocks until completion
printlog("running test %s"%test_name)
timeout_failure = False
run_id = None
#TODO: really need different, non-node version of LocalProcess instead of these extra args
process = roslaunch.nodeprocess.LocalProcess(run_id, self.package, self.test_name, self.args, os.environ, False, cwd='cwd', is_node=False)
pm = self.pmon
pm.register(process)
success = process.start()
self.assert_(success, "test failed to start")
#poll until test terminates or alloted time exceed
timeout_t = time.time() + self.time_limit
try:
while pm.mainthread_spin_once() and process.is_alive():
#test fails on timeout
if time.time() > timeout_t:
raise roslaunch.launch.RLTestTimeoutException("test max time allotted")
time.sleep(0.1)
except roslaunch.launch.RLTestTimeoutException, e:
if self.retry:
timeout_failure = True
else:
raise
if not timeout_failure:
printlog("test [%s] finished"%test_name)
else:
printlogerr("test [%s] timed out"%test_name)
# load in test_file
if not timeout_failure:
self.assert_(os.path.isfile(test_file), "test [%s] did not generate test results"%test_name)
printlog("test [%s] results are in [%s]", test_name, test_file)
results = rosunit.junitxml.read(test_file, test_name)
test_fail = results.num_errors or results.num_failures
else:
test_fail = True
if self.retry > 0 and test_fail:
self.retry -= 1
printlog("test [%s] failed, retrying. Retries left: %s"%(test_name, self.retry))
else:
done = True
self.results.accumulate(results)
printlog("test [%s] results summary: %s errors, %s failures, %s tests",
test_name, results.num_errors, results.num_failures, results.num_tests)
sys.exit(1)
logger.info('rostest starting with options %s, args %s' % (options, args))
if len(args) == 0:
parser.error("You must supply a test file argument to rostest.")
if len(args) != 1 and not options.bare:
parser.error("rostest only accepts a single test file")
# compute some common names we'll be using to generate test names and files
test_file = args[0]
pkg_dir, pkg = roslib.packages.get_dir_pkg(test_file)
outname = rostest_name_from_path(pkg_dir, test_file)
# #1140
if not options.bare and not os.path.isfile(test_file):
results_file = xmlResultsFile(pkg, outname, True)
write_bad_filename_failure(test_file, results_file, outname)
parser.error(
"test file is invalid. Generated failure case result file in %s" %
results_file)
try:
if options.bare:
# TODO: does bare-retry make sense?
time_limit = float(
options.bare_limit) if options.bare_limit else None
testCase = rostest.baretest.BareTestCase(
test_file,
args[1:],
rostest.runner.getResults(),
retry=0,
def runTest(self):
self.failIf(self.package is None,
"unable to determine package of executable")
done = False
while not done:
test_name = self.test_name
printlog("Running test [%s]", test_name)
#setup the test
# - we pass in the output test_file name so we can scrape it
test_file = xmlResultsFile(self.package, test_name, False)
if os.path.exists(test_file):
printlog("removing previous test results file [%s]", test_file)
os.remove(test_file)
self.args.append('--gtest_output=xml:%s' % test_file)
# run the test, blocks until completion
printlog("running test %s" % test_name)
timeout_failure = False
run_id = None
#TODO: really need different, non-node version of LocalProcess instead of these extra args
process = roslaunch.nodeprocess.LocalProcess(run_id,
self.package,
self.test_name,
self.args,
os.environ,
False,
cwd='cwd',
is_node=False)
pm = self.pmon
pm.register(process)
success = process.start()
self.assert_(success, "test failed to start")
#poll until test terminates or alloted time exceed
timeout_t = time.time() + self.time_limit
try:
while pm.mainthread_spin_once() and process.is_alive():
#test fails on timeout
if time.time() > timeout_t:
raise roslaunch.launch.RLTestTimeoutException(
"test max time allotted")
time.sleep(0.1)
except roslaunch.launch.RLTestTimeoutException, e:
if self.retry:
timeout_failure = True
else:
raise
if not timeout_failure:
printlog("test [%s] finished" % test_name)
else:
printlogerr("test [%s] timed out" % test_name)
# load in test_file
if not timeout_failure:
self.assert_(
os.path.isfile(test_file),
"test [%s] did not generate test results" % test_name)
printlog("test [%s] results are in [%s]", test_name, test_file)
results = rostest.xmlresults.read(test_file, test_name)
test_fail = results.num_errors or results.num_failures
else:
test_fail = True
if self.retry > 0 and test_fail:
self.retry -= 1
printlog("test [%s] failed, retrying. Retries left: %s" %
(test_name, self.retry))
else:
done = True
self.results.accumulate(results)
printlog(
"test [%s] results summary: %s errors, %s failures, %s tests",
test_name, results.num_errors, results.num_failures,
results.num_tests)
parser.error("rostest only accepts a single test file")
# compute some common names we'll be using to generate test names and files
test_file = args[0]
if options.pkg_dir and options.package:
# rosbuild2: the build system knows what package and directory, so let it tell us,
# instead of shelling back out to rospack
pkg_dir, pkg = options.pkg_dir, options.package
else:
pkg_dir, pkg = roslib.packages.get_dir_pkg(test_file)
outname = rostest_name_from_path(pkg_dir, test_file)
# #1140
if not options.bare and not os.path.isfile(test_file):
results_file = xmlResultsFile(pkg, outname, True)
write_bad_filename_failure(test_file, results_file, outname)
parser.error("test file is invalid. Generated failure case result file in %s"%results_file)
try:
if options.bare:
# TODO: does bare-retry make sense?
time_limit = float(options.bare_limit) if options.bare_limit else None
testCase = rostest.baretest.BareTestCase(test_file, args[1:],
rostest.runner.getResults(), retry=0,
time_limit=time_limit, test_name=options.bare_name,
package=pkg)
suite = unittest.TestSuite()
suite.addTest(testCase)
# override outname
