Improve testing coverage

Author: jdlangs

test/pubsub.jl

@@ -3,13 +3,12 @@
 #typegeneration.jl must be run first
 
 using geometry_msgs.msg
-init_node("jltest", anonymous=true)
-const t0 = to_nsec(get_rostime())
 
 const Nmsgs = 10
 const rate = 20. #Hz
 const msgs = PoseStamped[]
 const refs = Array(Vector3, Nmsgs)
+const t0 = to_nsec(get_rostime())
 
 for i=1:Nmsgs
     refs[i] = Vector3(rand(3)...)

test/rospy.jl

@@ -0,0 +1,34 @@
+#Test basic rospy interactions
+init_node("jltest", anonymous=true)
+
+#Parameters
+@test length(RobotOS.get_param_names()) > 0
+@test has_param("rosdistro")
+@test chomp(get_param("rosdistro")) in ["hydro", "indigo", "jade"]
+@test ! has_param("some_param")
+@test_throws KeyError get_param("some_param")
+@test_throws KeyError delete_param("some_param")
+@test get_param("some_param", 1.1) == 1.1
+@test get_param("some_param", "some_val") == "some_val"
+set_param("some_param", "val")
+@test get_param("some_param", 1.1) == "val"
+delete_param("some_param")
+@test ! has_param("some_param")
+
+#Really just running this stuff for coverage
+
+#Logging
+logdebug("%s", "debug")
+loginfo("%s", "info")
+logwarn("%s", "warn")
+logerr("%s", "err")
+logfatal("%s", "fatal")
+@test ! is_shutdown()
+
+#Generic stuff
+@test startswith(RobotOS.get_name()[2:end], "jltest")
+@test RobotOS.get_namespace() == "/"
+RobotOS.get_node_uri()
+RobotOS.get_caller_id()
+RobotOS.get_published_topics()
+RobotOS.get_ros_root()

test/runtests.jl

@@ -1,7 +1,11 @@
 using Base.Test
 using RobotOS
+using Compat
 RobotOS.debug(true)
 
+#Generally, later tests rely on things defined in previous tests, so the order
+#is important
+include("rospy.jl")
 include("time.jl")
 include("typegeneration.jl")
 include("pubsub.jl")

test/services.jl

@@ -1,4 +1,4 @@
-#typegeneration.jl and pubsub.jl must be run first
+#pubsub.jl must be run first
 
 using std_srvs.srv
 using nav_msgs.srv
@@ -24,8 +24,8 @@ function srv_cb(req::GetPlanRequest)
     return resp
 end
 
-const srvcall = ServiceProxy{Empty}("callme")
-const srvlisten = Service{GetPlan}("getplan", srv_cb)
+const srvcall = ServiceProxy("callme", Empty)
+const srvlisten = Service("getplan", GetPlan, srv_cb)
 
 #Call echo's Empty service
 println("Waiting for 'callme' service...")
@@ -49,3 +49,7 @@ if flag[1]
         @test_approx_eq(msgs[i].pose.position.z, i)
     end
 end
+
+#Test error handling
+@test_throws ErrorException wait_for_service("fake_srv", timeout=1.0)
+@test_throws ArgumentError call(srvcall, EmptyResponse())

test/time.jl

@@ -8,14 +8,64 @@ d3 = Duration(0, 1)
 @test t1 == Time(1,0)
 @test t1 != t2
 @test t1 > t2
+@test t1 >= t2
+@test t2 < t1
+@test t2 <= t1
 
 @test d1 == Duration(0, 999_999_999)
 @test d1 != d2
 @test d1 < d2
+@test d1 <= d2
+@test d2 > d1
+@test d2 >= d1
 
 @test t1 + d2 == t3
 @test t2 + d3 == t1
 @test t1 - t2 == d3
 @test t1 - d3 == t2
 @test d1 + d2 + d3 == Duration(t3.secs, t3.nsecs)
 @test d2 - d1 - d3 == Duration(0, 500_000_000)
+
+tt = Time()
+tt.secs = 2
+@test tt == Time(2.0)
+@test convert(Float64,tt) == 2.0
+@test to_sec(tt) == 2.0
+@test to_nsec(tt) == 2_000_000_000
+
+dt = Duration()
+dt.secs = 3
+@test dt == Duration(3.0)
+@test convert(Float64,dt) == 3.0
+@test to_sec(dt) == 3.0
+@test to_nsec(dt) == 3_000_000_000
+
+@test tt + dt == Time(5.0)
+@test dt + dt == Duration(6.0)
+
+t1 = get_rostime()
+rossleep(0.5)
+t2 = get_rostime()
+@test t2 - t1 >= Duration(0.4)
+
+rte = Rate(Duration(0.5))
+rossleep(rte)
+t1 = RobotOS.now()
+rossleep(rte)
+t2 = RobotOS.now()
+rossleep(rte)
+t3 = RobotOS.now()
+@test t2 - t1 >= Duration(0.4)
+@test t3 - t2 >= Duration(0.4)
+@test t3 - t1 >= Duration(0.8)
+
+t1 = get_rostime()
+RobotOS.sleep(0.5)
+t2 = get_rostime()
+@test t2 - t1 >= Duration(0.4)
+
+RobotOS.sleep(rte)
+t1 = get_rostime()
+RobotOS.sleep(rte)
+t2 = get_rostime()
+@test t2 - t1 >= Duration(0.4)