/usr/share/rostest/nodes/paramtest is in python-rostest 1.13.5+ds1-3.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | #!/usr/bin/env python
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# Original copied from hztest node
# https://github.com/ros/ros_comm/blob/24e45419bdd4b0d588321e3b376650c7a51bf11c/tools/rostest/nodes/hztest
# Integration test node that checks if a designated parameter is already
# registered at the Parameter Server. Following parameters must be set:
#
# * ~/param_name_target: expected parameter name
# * ~/test_duration: time (in secs) to run test
#
from __future__ import print_function
import sys
import threading
import time
import unittest
import rospy
import rostest
CLASSNAME = 'paramtest'
class ParamTest(unittest.TestCase):
def __init__(self, *args):
super(ParamTest, self).__init__(*args)
rospy.init_node(CLASSNAME)
self.lock = threading.Lock()
self.parameter_obtained = False
def setUp(self):
self.errors = []
def test_param(self):
# performs two tests of a node, first with /rostime off,
# then with /rostime on
# Fetch parameters
try:
# Getting the attributes of the test.
testattr_paramname_target = rospy.get_param("~param_name_target")
paramvalue_expected = rospy.get_param("~param_value_expected", None) # This is the expected param value.
# length of test
testattr_duration = float(rospy.get_param("~test_duration", 5))
# time to wait before
wait_time = rospy.get_param("~wait_time", 20)
except KeyError as e:
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])))
print("Parameter: %s Test Duration: %s" % (testattr_paramname_target, testattr_duration))
self._test_param(testattr_paramname_target, testattr_duration, wait_time, paramvalue_expected)
def _test_param(self, testattr_paramname_target, testattr_duration, wait_time, paramvalue_expected=None):
self.assert_(testattr_duration > 0.0, "bad parameter (test_duration)")
self.assert_(len(testattr_paramname_target), "bad parameter (testattr_paramname_target)")
print("Waiting for parameters")
wallclock_timeout_t = time.time() + wait_time
param_obtained = None
while not param_obtained and time.time() < wallclock_timeout_t:
try:
param_obtained = rospy.get_param(testattr_paramname_target)
except KeyError as e:
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])))
time.sleep(0.1)
if paramvalue_expected:
self.assertEqual(paramvalue_expected, param_obtained)
else:
self.assertIsNotNone(param_obtained)
if __name__ == '__main__':
try:
rostest.run('rostest', CLASSNAME, ParamTest, sys.argv)
except KeyboardInterrupt:
pass
print("{} exiting".format(CLASSNAME))
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