111 lines
4.5 KiB
Python
Executable File
111 lines
4.5 KiB
Python
Executable File
#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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# Original copied from hztest node
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# https://github.com/ros/ros_comm/blob/24e45419bdd4b0d588321e3b376650c7a51bf11c/tools/rostest/nodes/hztest
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# Integration test node that checks if a designated parameter is already
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# registered at the Parameter Server. Following parameters must be set:
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#
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# * ~/param_name_target: expected parameter name
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# * ~/test_duration: time (in secs) to run test
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#
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from __future__ import print_function
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import sys
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import threading
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import time
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import unittest
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import rospy
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import rostest
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CLASSNAME = 'paramtest'
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class ParamTest(unittest.TestCase):
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def __init__(self, *args):
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super(ParamTest, self).__init__(*args)
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rospy.init_node(CLASSNAME)
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self.lock = threading.Lock()
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self.parameter_obtained = False
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def setUp(self):
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self.errors = []
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def test_param(self):
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# performs two tests of a node, first with /rostime off,
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# then with /rostime on
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# Fetch parameters
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try:
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# Getting the attributes of the test.
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testattr_paramname_target = rospy.get_param("~param_name_target")
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paramvalue_expected = rospy.get_param("~param_value_expected", None) # This is the expected param value.
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# length of test
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testattr_duration = float(rospy.get_param("~test_duration", 5))
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# time to wait before
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wait_time = rospy.get_param("~wait_time", 20)
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except KeyError as e:
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self.fail("ParamTest not initialized properly. Parameter [%s] not set. Caller ID: [%s] Resolved name: [%s]"%(str(e), rospy.get_caller_id(), rospy.resolve_name(e.args[0])))
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print("Parameter: %s Test Duration: %s" % (testattr_paramname_target, testattr_duration))
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self._test_param(testattr_paramname_target, testattr_duration, wait_time, paramvalue_expected)
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def _test_param(self, testattr_paramname_target, testattr_duration, wait_time, paramvalue_expected=None):
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self.assert_(testattr_duration > 0.0, "bad parameter (test_duration)")
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self.assert_(len(testattr_paramname_target), "bad parameter (testattr_paramname_target)")
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print("Waiting for parameters")
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wallclock_timeout_t = time.time() + wait_time
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param_obtained = None
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while not param_obtained and time.time() < wallclock_timeout_t:
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try:
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param_obtained = rospy.get_param(testattr_paramname_target)
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except KeyError as e:
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print('Designated parameter [%s] is not registered yet, will wait. Caller ID: [%s] Resolved name: [%s]'%(testattr_paramname_target, rospy.get_caller_id(), rospy.resolve_name(e.args[0])))
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time.sleep(0.1)
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if paramvalue_expected:
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self.assertEqual(paramvalue_expected, param_obtained)
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else:
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self.assertIsNotNone(param_obtained)
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if __name__ == '__main__':
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try:
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rostest.run('rostest', CLASSNAME, ParamTest, sys.argv)
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except KeyboardInterrupt:
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pass
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print("{} exiting".format(CLASSNAME))
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