def test_local_process_stop_timeouts(self):
from roslaunch.core import Node, Machine
# have to use real ROS configuration for these tests
ros_root = os.environ['ROS_ROOT']
rpp = os.environ.get('ROS_PACKAGE_PATH', None)
master_uri = 'http://masteruri:1234'
m = Machine('name1', ros_root, rpp, '1.2.3.4')
run_id = 'id'
n = Node('roslaunch', 'signal_logger.py')
n.name = 'logger'
n.machine = m
self.check_stop_timeouts(master_uri, n, run_id, 1.0, 1.0)
self.check_stop_timeouts(master_uri, n, run_id, 0.00001, 1.0)
# shorter sigterm times are risky in the test - the signal file might not get written; but in the wild, it's ok
self.check_stop_timeouts(master_uri, n, run_id, 1.0, 0.001)
self.check_stop_timeouts(master_uri, n, run_id, 2.0, 3.0)
def test_create_node_process(self):
from roslaunch.core import Node, Machine, RLException
from roslaunch.node_args import NodeParamsException
from roslaunch.nodeprocess import create_node_process, LocalProcess
# have to use real ROS configuration for these tests
ros_root = os.environ['ROS_ROOT']
rpp = os.environ.get('ROS_PACKAGE_PATH', None)
master_uri = 'http://masteruri:1234'
m = Machine('name1', ros_root, rpp, '1.2.3.4')
run_id = 'id'
# test invalid params
n = Node('not_a_real_package','not_a_node')
n.machine = m
n.name = 'foo'
try: # should fail b/c node cannot be found
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except NodeParamsException:
pass
# have to specify a real node
n = Node('rospy','talker.py')
n.machine = m
try: # should fail b/c n.name is not set
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except ValueError:
pass
# have to specify a real node
n = Node('rospy','talker.py')
n.machine = None
n.name = 'talker'
try: # should fail b/c n.machine is not set
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except RLException:
pass
# basic integration test
n.machine = m
p = create_node_process(run_id, n, master_uri)
self.assert_(isinstance(p, LocalProcess))
# repeat some setup_local_process_env tests
d = p.env
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.environ['PYTHONPATH'])
if rpp:
self.assertEquals(d['ROS_PACKAGE_PATH'], rpp)
for k in ['ROS_IP', 'ROS_NAMESPACE']:
if k in d:
self.fail('%s should not be set: %s'%(k,d[k]))
# test package and name
self.assertEquals(p.package, 'rospy')
# - no 'correct' full answer here
self.assert_(p.name.startswith('talker'), p.name)
# test log_output
n.output = 'log'
self.assert_(create_node_process(run_id, n, master_uri).log_output)
n.output = 'screen'
self.failIf(create_node_process(run_id, n, master_uri).log_output)
# test respawn
n.respawn = True
self.assert_(create_node_process(run_id, n, master_uri).respawn)
n.respawn = False
self.failIf(create_node_process(run_id, n, master_uri).respawn)
# test cwd
n.cwd = None
self.assertEquals(create_node_process(run_id, n, master_uri).cwd, None)
n.cwd = 'ros-root'
self.assertEquals(create_node_process(run_id, n, master_uri).cwd, 'ros-root')
n.cwd = 'node'
self.assertEquals(create_node_process(run_id, n, master_uri).cwd, 'node')
# test args
# - simplest test (no args)
n.args = ''
p = create_node_process(run_id, n, master_uri)
# - the first arg should be the path to the node executable
rospack = rospkg.RosPack()
cmd = roslib.packages.find_node('rospy', 'talker.py', rospack)[0]
self.assertEquals(p.args[0], cmd)
# - test basic args
n.args = "arg1 arg2 arg3"
p = create_node_process(run_id, n, master_uri)
self.assertEquals(p.args[0], cmd)
for a in "arg1 arg2 arg3".split():
self.assert_(a in p.args)
# - test remap args
n.remap_args = [('KEY1', 'VAL1'), ('KEY2', 'VAL2')]
p = create_node_process(run_id, n, master_uri)
self.assert_('KEY1:=VAL1' in p.args)
self.assert_('KEY2:=VAL2' in p.args)
# - test __name
n = Node('rospy','talker.py')
n.name = 'fooname'
n.machine = m
self.assert_('__name:=fooname' in create_node_process(run_id, n, master_uri).args)
# - test substitution args
os.environ['SUB_TEST'] = 'subtest'
os.environ['SUB_TEST2'] = 'subtest2'
n.args = 'foo $(env SUB_TEST) $(env SUB_TEST2)'
p = create_node_process(run_id, n, master_uri)
self.failIf('SUB_TEST' in p.args)
self.assert_('foo' in p.args)
self.assert_('subtest' in p.args)
self.assert_('subtest2' in p.args)
def test_create_node_process(self):
from roslaunch.core import Node, Machine, RLException
from roslaunch.node_args import NodeParamsException
from roslaunch.nodeprocess import create_node_process, LocalProcess
# have to use real ROS configuration for these tests
ros_root = os.environ['ROS_ROOT']
rpp = os.environ.get('ROS_PACKAGE_PATH', None)
master_uri = 'http://masteruri:1234'
m = Machine('name1', ros_root, rpp, '1.2.3.4')
run_id = 'id'
# test invalid params
n = Node('not_a_real_package', 'not_a_node')
n.machine = m
n.name = 'foo'
try: # should fail b/c node cannot be found
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except NodeParamsException:
pass
# have to specify a real node
n = Node('roslaunch', 'talker.py')
n.machine = m
try: # should fail b/c n.name is not set
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except ValueError:
pass
# have to specify a real node
n = Node('roslaunch', 'talker.py')
n.machine = None
n.name = 'talker'
try: # should fail b/c n.machine is not set
create_node_process(run_id, n, master_uri)
self.fail("should have failed")
except RLException:
pass
# basic integration test
n.machine = m
p = create_node_process(run_id, n, master_uri)
self.assert_(isinstance(p, LocalProcess))
# repeat some setup_local_process_env tests
d = p.env
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.environ['PYTHONPATH'])
if rpp:
self.assertEquals(d['ROS_PACKAGE_PATH'], rpp)
for k in ['ROS_IP', 'ROS_NAMESPACE']:
if k in d:
self.fail('%s should not be set: %s' % (k, d[k]))
# test package and name
self.assertEquals(p.package, 'roslaunch')
# - no 'correct' full answer here
self.assert_(p.name.startswith('talker'), p.name)
# test log_output
n.output = 'log'
self.assert_(create_node_process(run_id, n, master_uri).log_output)
n.output = 'screen'
self.failIf(create_node_process(run_id, n, master_uri).log_output)
# test respawn
n.respawn = True
self.assert_(create_node_process(run_id, n, master_uri).respawn)
n.respawn = False
self.failIf(create_node_process(run_id, n, master_uri).respawn)
# test cwd
n.cwd = None
self.assertEquals(create_node_process(run_id, n, master_uri).cwd, None)
n.cwd = 'ros-root'
self.assertEquals(
create_node_process(run_id, n, master_uri).cwd, 'ros-root')
n.cwd = 'node'
self.assertEquals(
create_node_process(run_id, n, master_uri).cwd, 'node')
# sigint timeout
self.assertEquals(
create_node_process(run_id, n, master_uri).sigint_timeout, 15)
self.assertEquals(
create_node_process(run_id, n, master_uri,
sigint_timeout=1).sigint_timeout, 1)
self.assertRaises(RLException,
create_node_process,
run_id,
n,
master_uri,
sigint_timeout=0)
# sigterm timeout
self.assertEquals(
create_node_process(run_id, n, master_uri).sigterm_timeout, 2)
self.assertEquals(
create_node_process(run_id, n, master_uri,
sigterm_timeout=1).sigterm_timeout, 1)
self.assertRaises(RLException,
create_node_process,
run_id,
n,
master_uri,
sigterm_timeout=0)
# test args
# - simplest test (no args)
n.args = ''
p = create_node_process(run_id, n, master_uri)
# - the first arg should be the path to the node executable
rospack = rospkg.RosPack()
cmd = roslib.packages.find_node('roslaunch', 'talker.py', rospack)[0]
self.assertEquals(p.args[0], cmd)
# - test basic args
n.args = "arg1 arg2 arg3"
p = create_node_process(run_id, n, master_uri)
self.assertEquals(p.args[0], cmd)
for a in "arg1 arg2 arg3".split():
self.assert_(a in p.args)
# - test remap args
n.remap_args = [('KEY1', 'VAL1'), ('KEY2', 'VAL2')]
p = create_node_process(run_id, n, master_uri)
self.assert_('KEY1:=VAL1' in p.args)
self.assert_('KEY2:=VAL2' in p.args)
# - test __name
n = Node('roslaunch', 'talker.py')
n.name = 'fooname'
n.machine = m
self.assert_('__name:=fooname' in create_node_process(
run_id, n, master_uri).args)
# - test substitution args
os.environ['SUB_TEST'] = 'subtest'
os.environ['SUB_TEST2'] = 'subtest2'
n.args = 'foo $(env SUB_TEST) $(env SUB_TEST2)'
p = create_node_process(run_id, n, master_uri)
self.failIf('SUB_TEST' in p.args)
self.assert_('foo' in p.args)
self.assert_('subtest' in p.args)
self.assert_('subtest2' in p.args)
