def test_registration_list(self):
var1 = 0.0
registry = StatisticsRegistry(DEFAULT_TOPIC)
registration_list = []
registry.registerFunction("var1", (lambda: var1), registration_list)
self.evaluate_msgs({"var1": 0.0}, registry)
del registration_list
self.evaluate_msgs({}, registry)
def test_map_data(self):
map_data = {"x": 20.0, "y": 124.2, "z": 20}
registry = StatisticsRegistry(DEFAULT_TOPIC)
for key in map_data:
registry.registerFunction("var_{}".format(key), (lambda map_key=key: map_data[map_key]))
self.evaluate_msgs({"var_x": 20.0, "var_y": 124.2, "var_z": 20}, registry)
# Testing by modifying the data in the dictionary
map_data["x"] = 25.7
map_data["z"] += 7
self.evaluate_msgs({"var_x": 25.7, "var_y": 124.2, "var_z": 27}, registry)
def test_list_data(self):
list_data = [0, 10, 20, 30]
registry = StatisticsRegistry(DEFAULT_TOPIC)
for i in range(0, len(list_data)):
registry.registerFunction("var_{}".format(i), (lambda index=i: list_data[index]))
self.evaluate_msgs({"var_0": 0.0, "var_1": 10.0, "var_2": 20.0, "var_3": 30.0}, registry)
# Testing by modifying the data in the list
list_data[2] = 152.2
list_data[3] = 1.23
self.evaluate_msgs({"var_0": 0.0, "var_1": 10.0, "var_2": 152.2, "var_3": 1.23}, registry)
def test_basic(self):
var1 = 0.0
registry = StatisticsRegistry(DEFAULT_TOPIC)
registry.registerFunction("var1", (lambda: var1))
self.evaluate_msgs({"var1": 0.0}, registry)
var1 = 1.0
msg = registry.createFullMsg()
self.evaluate_msgs({"var1": 1.0}, registry)
var2 = 2
registry.registerFunction("var2", (lambda: var2))
msg = registry.createFullMsg()
self.evaluate_msgs({"var1": 1.0, "var2": 2.0}, registry)
registry.unregister("var1")
self.evaluate_msgs({"var2": 2.0}, registry)
def test_publish(self):
sub = rospy.Subscriber(DEFAULT_TOPIC, Statistics, self.msg_cb)
registry = StatisticsRegistry(DEFAULT_TOPIC)
self.last_msg = None
rospy.sleep(0.5) #Time for pub-sub connection
registry.publish()
self.wait_for_msg()
self.evaluate_msgs({}, self.last_msg)
var = 1.0
registry.registerFunction("var", (lambda: var))
self.last_msg = None
registry.publish()
self.wait_for_msg()
self.evaluate_msgs({"var": 1.0}, self.last_msg)
self.last_msg = None
registry.publishCustomStatistic("foo", 23)
self.wait_for_msg()
self.evaluate_msgs({"foo": 23}, self.last_msg)
def test_publish(self):
sub = rospy.Subscriber(DEFAULT_TOPIC + "/full", Statistics,
self.full_msg_cb)
names_sub = rospy.Subscriber(DEFAULT_TOPIC + "/names", StatisticsNames,
self.names_msg_cb)
values_sub = rospy.Subscriber(DEFAULT_TOPIC + "/values", StatisticsValues,
self.values_msg_cb)
registry = StatisticsRegistry(DEFAULT_TOPIC)
rospy.sleep(0.5) #Time for pub-sub connection
self.clear()
registry.publish()
self.wait_for_msg()
self.compare_full_msg({}, self.last_full_msg)
self.assertEqual(self.last_names_msg.names_version,
self.last_values_msg.names_version)
old_names_ver = self.last_names_msg.names_version
var = 1.0
registry.registerFunction("var", (lambda: var))
self.clear()
registry.publish()
self.wait_for_msg()
self.compare_full_msg({"var": 1.0}, self.last_full_msg)
self.assertEqual(self.last_names_msg.names_version,
self.last_values_msg.names_version)
self.assertNotEqual(old_names_ver, self.last_names_msg.names_version)
old_names_ver = self.last_names_msg.names_version
#If we publish the same statistics, names_version shouldn't change
self.clear()
registry.publish()
self.wait_for_msg()
self.assertEqual(old_names_ver, self.last_names_msg.names_version)
self.clear()
registry.publishCustomStatistic("foo", 23)
rospy.sleep(0.2) #hard coded sleep only for full msg
self.compare_full_msg({"foo": 23}, self.last_full_msg)