126 lines
5.3 KiB
Python
Executable File
126 lines
5.3 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) 2009, 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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from __future__ import print_function
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import os
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import sys
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import rospkg
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import roslaunch.rlutil
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import rosunit
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def check_roslaunch_file(roslaunch_file, use_test_depends=False):
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print("checking", roslaunch_file)
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error_msg = roslaunch.rlutil.check_roslaunch(roslaunch_file, use_test_depends=use_test_depends)
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# error message has to be XML attr safe
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if error_msg:
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return "[%s]:\n\t%s"%(roslaunch_file,error_msg)
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def check_roslaunch_dir(roslaunch_dir, use_test_depends=False):
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error_msgs = []
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for f in os.listdir(roslaunch_dir):
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if f.endswith('.launch'):
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roslaunch_file = os.path.join(roslaunch_dir, f)
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if os.path.isfile(roslaunch_file):
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error_msgs.append(check_roslaunch_file(roslaunch_file, use_test_depends=use_test_depends))
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# error message has to be XML attr safe
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return '\n'.join([e for e in error_msgs if e])
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## run check and output test result file
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if __name__ == '__main__':
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from optparse import OptionParser
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parser = OptionParser(usage="usage: \troslaunch-check [options] <file|directory> [env=value...]")
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# #3674
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parser.add_option("-o", "--output-file",
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dest="output_file", default=None,
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help="file to store test results in", metavar="FILE")
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parser.add_option("-t", "--use-test-depends",
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action="store_true", dest="test_depends", default=False,
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help="Assuming packages listed in test_depends are also installed")
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options, args = parser.parse_args()
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if not args:
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parser.error('please specify a file or directory for roslaunch files to test')
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roslaunch_path = args[0]
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# #2590: implementing this quick and dirty as this script should only be used by higher level tools
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env_vars = args[1:]
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for e in env_vars:
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var, val = e.split('=')
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os.environ[var] = val
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pkg = rospkg.get_package_name(roslaunch_path)
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r = rospkg.RosPack()
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pkg_dir = r.get_path(pkg)
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if os.path.isfile(roslaunch_path):
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error_msg = check_roslaunch_file(roslaunch_path, use_test_depends=options.test_depends)
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else:
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print("checking *.launch in directory", roslaunch_path)
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error_msg = check_roslaunch_dir(roslaunch_path, use_test_depends=options.test_depends)
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relpath = os.path.abspath(roslaunch_path)[len(os.path.abspath(pkg_dir))+1:]
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outname = relpath.replace('.', '_').replace(os.sep, '_')
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if outname == '_':
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outname = '_pkg'
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if options.output_file:
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test_file = options.output_file
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# If we were given a test file name to write, then construct the
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# test name from it, to ensure uniqueness
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test_name = os.path.basename(test_file)
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else:
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test_file = rosunit.xml_results_file(pkg, "roslaunch_check_"+outname, is_rostest=False)
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test_name = roslaunch_path
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print("...writing test results to", test_file)
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dir_path = os.path.abspath(os.path.dirname(test_file))
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if not os.path.exists(dir_path):
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os.makedirs(dir_path)
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if error_msg:
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print("FAILURE:\n%s"%error_msg, file=sys.stderr)
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with open(test_file, 'w') as f:
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message = "roslaunch check [%s] failed"%(roslaunch_path)
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f.write(rosunit.junitxml.test_failure_junit_xml(test_name, message, stdout=error_msg,
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class_name="roslaunch.RoslaunchCheck", testcase_name="%s_%s" % (pkg, outname)))
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print("wrote test file to [%s]"%test_file)
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sys.exit(1)
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else:
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print("passed")
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with open(test_file, 'w') as f:
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f.write(rosunit.junitxml.test_success_junit_xml(test_name,
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class_name="roslaunch.RoslaunchCheck", testcase_name="%s_%s" % (pkg, outname)))
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