v01

thirdparty/ros/ros_comm/utilities/roswtf/test/check_roswtf_command_line_online.py

@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+PKG = 'roswtf'
+NAME = 'test_roswtf_command_line_online'
+
+import os
+import signal
+import sys 
+import time
+import unittest
+
+import rospkg
+import rospy
+import rostest
+
+import std_msgs.msg
+
+from subprocess import Popen, PIPE, check_call, call
+
+def run_for(cmd, secs):
+    popen = Popen(cmd, stdout=PIPE, stderr=PIPE, close_fds=True)
+    timeout_t = time.time() + secs
+    while time.time() < timeout_t:
+        time.sleep(0.1)
+    os.kill(popen.pid, signal.SIGKILL)
+    
+class TestRostopicOnline(unittest.TestCase):
+
+    def setUp(self):
+        self.vals = set()
+        self.msgs = {}
+
+    ## test that the rosmsg command works
+    def test_cmd_help(self):
+        cmd = 'roswtf'
+        output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
+        self.assert_('Options' in output)
+            
+    def test_offline(self):
+        # this test is disabled for now; now that test_roswtf is part
+        # of ros_comm, the tricks before that were used no longer work
+        cmd = 'roswtf'
+
+        # pass in special test key to roswtf for ROS_PACKAGE_PATH
+        env = os.environ.copy()
+
+        rospack = rospkg.RosPack()
+        # add all dependencies to ros package path
+        pkgs = ['roswtf',
+            'rosgraph', 'roslaunch', 'roslib', 'rosnode', 'rosservice',
+            'rosbag', 'rosbag_storage', 'roslz4', 'rosconsole', 'roscpp', 'rosgraph_msgs', 'roslang', 'rosmaster', 'rosmsg', 'rosout', 'rosparam', 'rospy', 'rostest', 'rostopic', 'topic_tools', 'xmlrpcpp',
+            'cpp_common', 'roscpp_serialization', 'roscpp_traits', 'rostime',  # roscpp_core
+            'rosbuild', 'rosclean', 'rosunit',  # ros
+            'rospack', 'std_msgs', 'message_runtime', 'message_generation', 'gencpp', 'genlisp', 'genpy', 'genmsg', 'catkin',
+        ]
+        paths = [rospack.get_path(pkg) for pkg in pkgs]
+        try:
+            path = rospack.get_path('cmake_modules')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        try:
+            path = rospack.get_path('geneus')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        try:
+            path = rospack.get_path('gennodejs')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        env['ROS_PACKAGE_PATH'] = os.pathsep.join(paths)
+
+        cwd  = rospack.get_path('roswtf')
+        kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE, 'cwd': cwd}
+
+        # run roswtf nakedly in the roswtf directory. Running in
+        # ROS_ROOT effectively make roswtf have dependencies on
+        # every package in the ROS stack, which doesn't work.
+
+        output, err = Popen([cmd], **kwds).communicate()
+        self._check_output([cmd], output, err)
+
+        # run roswtf on a simple launch file online
+        rospack = rospkg.RosPack()
+        p = os.path.join(rospack.get_path('roswtf'), 'test', 'min.launch')
+        output = Popen([cmd, p], **kwds).communicate()[0]
+        self._check_output([cmd, p], output)
+
+    def _check_output(self, cmd, output, error=None):
+        # do both a positive and negative test
+        self.assert_(
+            'No errors or warnings' in output or 'Found 1 error' in output,
+            'CMD[%s] OUTPUT[%s]%s' %
+            (' '.join(cmd), output, '\nstderr[%s]' % error if error else ''))
+        allowed_errors = 0
+        if 'Found 1 error' in output:
+            self.assert_(output.count('ERROR') == 1, 'OUTPUT[%s]' % output)
+            self.assert_(
+                'ROS Dep database not updated' in output,
+                'OUTPUT[%s]' % output)
+            allowed_errors += 1
+        if 'No errors or warnings' in output:
+            self.assert_(output.count('ERROR') <= allowed_errors, 'OUTPUT[%s]' % output)
+
+if __name__ == '__main__':
+    rostest.run(PKG, NAME, TestRostopicOnline, sys.argv)

thirdparty/ros/ros_comm/utilities/roswtf/test/min.launch

@@ -0,0 +1,4 @@
+<launch>
+  <!-- $(anon talker) creates an anonymous name for this node -->
+  <node name="$(anon talker)" pkg="rospy" type="talker.py" />
+</launch>

thirdparty/ros/ros_comm/utilities/roswtf/test/roswtf.test

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="roswtf_command_line_online" pkg="roswtf" type="check_roswtf_command_line_online.py" />
+</launch>

thirdparty/ros/ros_comm/utilities/roswtf/test/test_roswtf_command_line_offline.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys 
+import unittest
+import time
+        
+from subprocess import Popen, PIPE, check_call, call
+
+import rospkg
+
+def get_test_path():
+    return os.path.abspath(os.path.dirname(__file__))
+def get_roswtf_path():
+    return os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
+
+class TestRoswtfOffline(unittest.TestCase):
+
+    def setUp(self):
+        pass
+
+    ## test that the rosmsg command works
+    def test_cmd_help(self):
+        cmd = 'roswtf'
+        output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
+        output = output.decode()
+        self.assert_('Options' in output)
+            
+    def test_offline(self):
+        cmd = 'roswtf'
+
+        # point at a different 'master'
+        env = os.environ.copy()
+        env['ROS_MASTER_URI'] = 'http://localhost:11312'
+
+        rospack = rospkg.RosPack()
+        # add all dependencies to ros package path
+        pkgs = ['roswtf',
+            'rosgraph', 'roslaunch', 'roslib', 'rosnode', 'rosservice',
+            'rosbag', 'rosbag_storage', 'roslz4', 'rosconsole', 'roscpp', 'rosgraph_msgs', 'roslang', 'rosmaster', 'rosmsg', 'rosout', 'rosparam', 'rospy', 'rostest', 'rostopic', 'topic_tools', 'xmlrpcpp',
+            'cpp_common', 'roscpp_serialization', 'roscpp_traits', 'rostime',  # roscpp_core
+            'rosbuild', 'rosclean', 'rosunit',  # ros
+            'rospack', 'std_msgs', 'message_runtime', 'message_generation', 'gencpp', 'genlisp', 'genpy', 'genmsg', 'catkin',
+        ]
+        paths = [rospack.get_path(pkg) for pkg in pkgs]
+        try:
+            path = rospack.get_path('cmake_modules')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        try:
+            path = rospack.get_path('geneus')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        try:
+            path = rospack.get_path('gennodejs')
+        except rospkg.ResourceNotFound:
+            pass
+        else:
+            paths.append(path)
+        env['ROS_PACKAGE_PATH'] = os.pathsep.join(paths)
+
+        cwd  = get_roswtf_path()
+        kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE, 'cwd': cwd}
+
+        # run roswtf nakedly
+        output = Popen([cmd], **kwds).communicate()
+        output = [o.decode() for o in output]
+
+        # there should either be no errors or warnings or
+        # there should be exactly one error about rosdep not being initialized
+        self._check_output(output[0])
+
+        # run roswtf on a simple launch file offline
+        p = os.path.join(get_test_path(), 'min.launch')
+        output = Popen([cmd, p], **kwds).communicate()[0]
+        output = output.decode()
+        self._check_output(output)
+
+    def _check_output(self, output):
+        # do both a positive and negative test
+        self.assert_(
+            'No errors or warnings' in output or 'Found 1 error' in output,
+            'OUTPUT[%s]' % output)
+        if 'No errors or warnings' in output:
+            self.assert_('ERROR' not in output, 'OUTPUT[%s]' % output)
+        if 'Found 1 error' in output:
+            self.assert_(output.count('ERROR') == 1, 'OUTPUT[%s]' % output)
+            self.assert_(
+                'Error: the rosdep view is empty' not in output,
+                'OUTPUT[%s]' % output)