distro.py test from roslib2
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Ken Conley
parent
7bea267170
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14f2fd0bdd
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@ -5,6 +5,7 @@ rosbuild_genmsg()
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# unit tests
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rosbuild_add_pyunit(test/test_md5sums.py)
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rosbuild_add_pyunit(test/test_roslib.py)
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rosbuild_add_pyunit(test/test_roslib_distro.py)
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rosbuild_add_pyunit(test/test_roslib_exceptions.py)
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rosbuild_add_pyunit(test/test_roslib_genpy.py)
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rosbuild_add_pyunit(test/test_roslib_gentools.py)
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@ -0,0 +1,218 @@
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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 with_statement
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PKG = 'roslib2'
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import roslib; roslib.load_manifest(PKG)
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import os
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import sys
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import unittest
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import yaml
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import roslib.packages
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import rostest
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def load_distros():
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"""
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Load distro files as dicts
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"""
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d = roslib.packages.get_pkg_dir(PKG)
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distros = {}
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for release_name in ['latest', 'boxturtle']:
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with open(os.path.join(d, 'test', '%s.rosdistro'%release_name)) as f:
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distros[release_name] = yaml.load(f.read())
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return distros
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def load_Distros():
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"""
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Load distro files as Distro instances
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"""
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from roslib2.distro import Distro
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d = roslib.packages.get_pkg_dir(PKG)
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distros = {}
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for release_name in ['latest', 'boxturtle']:
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p = os.path.join(d, 'test', '%s.rosdistro'%release_name)
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distros[release_name] = Distro(p)
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return distros
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boxturtle_ros_rules = {'dev-svn': 'https://code.ros.org/svn/ros/stacks/ros/tags/rc',
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'distro-svn': 'https://code.ros.org/svn/ros/stacks/ros/tags/$RELEASE_NAME',
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'release-svn': 'https://code.ros.org/svn/ros/stacks/ros/tags/$STACK_NAME-$STACK_VERSION',
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'source-tarball': 'http://ros.org/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION.tar.bz2'}
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boxturtle_rospkg_rules = {'dev-svn': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.0',
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'distro-svn': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME',
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'release-svn': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION',
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'source-tarball': 'http://ros.org/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION.tar.bz2'}
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boxturtle_wgrospkg_rules = {'dev-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.0',
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'distro-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME',
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'release-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION',
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'source-tarball': 'http://ros.org/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION.tar.bz2'}
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wg_unbranched_rules = {'dev-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/trunk',
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'distro-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME',
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'release-svn': 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION',
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'source-tarball': 'http://ros.org/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION.tar.bz2'}
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boxturtle_versions = {
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'common': '1.0.3',
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'common_msgs': '1.0.0',
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'geometry': '1.0.2',
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'navigation': '1.0.4',
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'pr2_common': '1.0.2',
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'pr2_mechanism': '1.0.2',
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'pr2_navigation': '0.1.1',
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'robot_model': '1.0.1',
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'ros':'1.0.1',
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'ros_experimental': '0.1.0',
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'simulator_gazebo': '1.0.3',
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'simulator_stage': '1.0.0',
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'visualization': '1.0.1',
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'wg_common': '0.1.2',
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'wg_pr2_apps': '0.1.1',
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'wifi_drivers':'0.1.3',
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}
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class DistroTest(unittest.TestCase):
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def test_Distro(self):
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# TODO: better unit tests. For now this is mostly a tripwire
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from roslib2.distro import Distro, DistroStack, Variant
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distros = load_Distros()
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r = 'boxturtle'
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v = '6'
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boxturtle = distros['boxturtle']
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self.assertEquals(r, boxturtle.release_name)
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self.assertEquals(v, boxturtle.version)
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# make sure ros got assigned and is correct
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ros = DistroStack('ros', boxturtle_ros_rules, boxturtle_versions['ros'], r, v)
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self.assertEquals(ros, boxturtle.ros)
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self.assertEquals(ros, boxturtle.stacks['ros'])
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# make sure we loaded the stacks
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latest = distros['boxturtle']
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stack_names = ['common', 'common_msgs', 'navigation', 'geometry']
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for s in stack_names:
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val = DistroStack(s, boxturtle_rospkg_rules, boxturtle_versions[s], r, v)
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self.assertEquals(val, boxturtle.stacks[s])
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self.assertEquals(['base', 'pr2'], sorted(boxturtle.variants.keys()))
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#TODO: much more to test
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def test_get_rules(self):
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distros = load_distros()
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# boxturtle tests
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boxturtle = distros['boxturtle']
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from roslib2.distro import get_rules
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self.assertEquals(boxturtle_ros_rules, get_rules(boxturtle, 'ros'))
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for s in ['common', 'navigation', 'simulator_stage', 'visualization', 'visualization_common']:
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self.assertEquals(boxturtle_rospkg_rules, get_rules(boxturtle, s))
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for s in ['arm_navigation', 'motion_planners', 'pr2_calibration', 'pr2_ethercat_drivers']:
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self.assertEquals(wg_unbranched_rules, get_rules(boxturtle, s))
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def test_load_distro_stacks(self):
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from roslib2.distro import load_distro_stacks, DistroStack
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distros = load_distros()
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v = '6'
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r = 'boxturtle'
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boxturtle = distros[r]
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ros_version = boxturtle_versions['ros']
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self.assertEquals({}, load_distro_stacks(boxturtle, [], r, '5'))
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# - test with overrides
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ros = DistroStack('ros', boxturtle_ros_rules, ros_version, 'foxturtle', '55')
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self.assertEquals({'ros': ros}, load_distro_stacks(boxturtle, ['ros'], 'foxturtle', '55'))
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# - test with targetted rule change
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rules = boxturtle_rospkg_rules.copy()
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rules['dev-svn'] = 'https://madeup/stuff/$STACK_NAME/trunk'
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test_stack = DistroStack('test_rule_override', rules, '0.1.3', r, v)
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self.assertEquals({'test_rule_override': test_stack}, load_distro_stacks(boxturtle, ['test_rule_override']))
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# - test with actual distro values
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ros = DistroStack('ros', boxturtle_ros_rules, ros_version, r, v)
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self.assertEquals({'ros': ros}, load_distro_stacks(boxturtle, ['ros']))
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# test with the base stuff
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stack_names = ['ros', 'common', 'common_msgs', 'navigation', 'geometry']
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val = {'ros': ros}
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for s in [x for x in stack_names if x != 'ros']:
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val[s] = DistroStack(s, boxturtle_rospkg_rules, boxturtle_versions[s], r, v)
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self.assertEquals(val.keys(), load_distro_stacks(boxturtle, stack_names, r, v).keys())
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loaded = load_distro_stacks(boxturtle, stack_names, r, v)
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# iterate compare first for easy test diagnosis
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for k, item in val.iteritems():
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self.assertEquals(item, loaded[k], "failed on [%s]: %s"%(k, loaded[k]))
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# failsafe to ensure no extra items
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self.assertEquals(val, loaded)
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# add in some pr2 stacks which have different ways of setting rules
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pr2_stack_names = ['pr2_common', 'pr2_mechanism']
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for s in pr2_stack_names:
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val[s] = DistroStack(s, boxturtle_wgrospkg_rules, boxturtle_versions[s], r, v)
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stack_names = stack_names + pr2_stack_names
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self.assertEquals(val, load_distro_stacks(boxturtle, stack_names, r, v))
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def test_get_variants(self):
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import roslib2.distro
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from roslib2.distro import get_variants
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distros = load_distros()
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# boxturtle tests
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boxturtle = distros['boxturtle']
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self.assertEquals(['base', 'pr2'], get_variants(boxturtle, 'ros'))
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self.assertEquals(['base', 'pr2'], get_variants(boxturtle, 'navigation'))
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self.assertEquals(['pr2'], get_variants(boxturtle, 'pr2_mechanism'))
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self.assertEquals([], get_variants(boxturtle, 'arm_navigation'))
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self.assertEquals([], get_variants(boxturtle, 'fake'))
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# latest tests
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latest = distros['latest']
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self.assertEquals(['base', 'pr2', 'pr2all'], get_variants(latest, 'ros'))
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self.assertEquals(['base', 'pr2','pr2all'], get_variants(latest, 'navigation'))
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self.assertEquals(['pr2','pr2all'], get_variants(latest, 'pr2_mechanism'))
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self.assertEquals(['pr2all'], get_variants(latest, 'arm_navigation'))
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self.assertEquals([], get_variants(latest, 'fake'))
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if __name__ == '__main__':
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rostest.unitrun('roslib2', 'test_distro', DistroTest, coverage_packages=['roslib2.distro'])
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