test_roswtf: #2019

test/test_roswtf/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+rosbuild_add_pyunit(test/test_roswtf_command_line_offline.py)
+rosbuild_add_rostest(test/roswtf.test)

test/test_roswtf/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

test/test_roswtf/manifest.xml

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+<package>
+  <description brief="test_roswtf">
+
+     test_roswtf
+
+  </description>
+  <author>Ken Conley</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/test_roswtf</url>
+  <depend package="roslib"/>
+  <depend package="roswtf"/>
+
+  <depend package="test_ros"/> <!-- due to min.launch test file -->
+
+</package>
+
+

test/test_roswtf/test/min.launch

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

test/test_roswtf/test/roswtf.test

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+<launch>
+  <test test-name="roswtf_command_line_online" pkg="test_roswtf" type="test_roswtf_command_line_online.py" />
+</launch>

test/test_roswtf/test/test_roswtf_command_line_offline.py

@@ -0,0 +1,79 @@
+#!/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.
+#
+# Revision $Id: test_roswtf_command_line_offline.py 5710 2009-08-20 03:11:04Z sfkwc $
+
+from __future__ import with_statement
+
+NAME = 'test_roswtf_command_line_offline'
+import roslib; roslib.load_manifest('test_roswtf')
+
+import os
+import sys 
+import unittest
+import cStringIO
+import time
+        
+import rostest
+
+from subprocess import Popen, PIPE, check_call, call
+
+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]
+        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'
+        kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE}
+
+        # run roswtf nakedly
+        check_call([cmd], **kwds)
+
+        # run roswtf on a simple launch file offline
+        import roslib.packages
+        p = os.path.join(roslib.packages.get_pkg_dir('test_roswtf'), 'test', 'min.launch')
+        check_call([cmd, p], **kwds)
+        
+if __name__ == '__main__':
+    rostest.unitrun('test_roswtf', NAME, TestRoswtfOffline, sys.argv, coverage_packages=[])

test/test_roswtf/test/test_roswtf_command_line_online.py

@@ -0,0 +1,86 @@
+#!/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.
+#
+# Revision $Id: test_rostopic_command_line_online.py 6411 2009-10-02 21:32:01Z kwc $
+
+PKG = 'test_rostopic'
+NAME = 'test_rostopic_command_line_online'
+import roslib; roslib.load_manifest(PKG)
+
+import os
+import signal
+import sys 
+import time
+import unittest
+
+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):
+        cmd = 'roswtf'
+
+        kwds = { 'stdout': PIPE, 'stderr': PIPE}
+
+        # run roswtf nakedly
+        check_call([cmd], **kwds)
+
+        # run roswtf on a simple launch file online
+        import roslib.packages
+        p = os.path.join(roslib.packages.get_pkg_dir('test_roswtf'), 'test', 'min.launch')
+        check_call([cmd, p], **kwds)
+            
+if __name__ == '__main__':
+    rostest.run(PKG, NAME, TestRostopicOnline, sys.argv)