Merge pull request #64 from k-okada/add_test

smach_viewer/test add test_smach_event.py,

Author: k-okada

.github/workflows/config.yml

@@ -122,6 +122,8 @@ jobs:
           source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
           set -x
           cd ~/ws/
+          # smach_viewer is not depend on roseus_smach, but we need to build roseus_smach before smach_viewer for tests
+          [ ${{ matrix.ROS_DISTRO }} != "one" ] || catkin build roseus_smach --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
           catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
 
@@ -130,9 +132,8 @@ jobs:
         run: |
           source ~/ws/devel/setup.bash
           set -x
-          cd ~/ws/
-          [ ${{ matrix.ROS_DISTRO }} != "one" ] || touch src/jsk_roseus/CATKIN_IGNORE
-          catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+          cd ~/ws/build/smach_viewer
+          make run_tests
         shell: bash
 
       - name: Show Test Results

smach_viewer/CMakeLists.txt

@@ -18,17 +18,20 @@ catkin_install_python(
 catkin_install_python(
   PROGRAMS test/test_smach.py
            test/test_rosout_error.py
+           test/test_smach_event.py
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test)
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/test_smach_py.test)
   add_rostest(test/test_smach_image.test)
+  add_rostest(test/test_smach_event.test)
   find_package(roseus QUIET)
   if(roseus_FOUND)
     add_rostest(test/test_smach_eus.test)
   endif()
   find_package(roseus_smach QUIET)
   if(roseus_smach_FOUND)
     add_rostest(test/test_roseus_smach_state_machine_ros_sample.test)
+    add_rostest(test/test_smach_event.test ARGS target_python:=false target_roseus:=true)
   endif()
 endif()

smach_viewer/scripts/smach_viewer.py

@@ -484,6 +484,9 @@ def selection_changed(self, event):
 
                 # Generate the userdata string
                 ud_str = ''
+                if not isinstance(container._local_data._data, dict):
+                    rospy.logwarn("userdata is not dictionary({}), please fix sender proram".format(container._local_data._data))
+                    container._local_data._data = {}
                 for (k,v) in container._local_data._data.items():
                     ud_str += str(k)+": "
                     vstr = str(v)

smach_viewer/test/test_smach_event.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python
+
+import sys
+import os
+
+parent_dir_name = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
+
+try:
+    import importlib.util
+    file_path = parent_dir_name + "/scripts/smach_viewer.py"
+    module_name = 'smach_viewer_frame'
+    spec = importlib.util.spec_from_file_location(module_name, file_path)
+    smach_viewer_frame = importlib.util.module_from_spec(spec)
+    sys.modules[module_name] = smach_viewer_frame
+    spec.loader.exec_module(smach_viewer_frame)
+
+except:
+    sys.path.insert(0, parent_dir_name + "/scripts")
+    import smach_viewer as smach_viewer_frame
+
+import wx
+
+import rospy
+import rostest
+import unittest
+
+import time
+
+class TestSmachViewerEvent(unittest.TestCase):
+
+    def setUp(self):
+        rospy.init_node('test_smach_event', anonymous=True)
+        app = wx.App()
+
+        self.frame = smach_viewer_frame.SmachViewerFrame()
+        self.frame.set_filter('dot')
+        #/server_namsmach/container_statsup
+        self.frame.Show()
+        self.frame.is_button = type('DummyButton', (object, ), {'Disable': lambda self: None, 'Enable': lambda self: None})();
+        #app.MainLoop()
+        self.evtloop = wx.GUIEventLoop()
+        #old = wx.EventLoop.GetActive()
+        wx.EventLoop.SetActive(self.evtloop)
+
+    def test_samch_event(self):
+        try:
+            for i in range(10):
+                self.frame.path_input.SetValue('/SM_ROOT/FOO')
+                self.frame.selection_changed(None)
+                time.sleep(1)
+                self.evtloop.ProcessIdle()
+            rospy.loginfo("SUCCEEDED: _local_data {}".format(self.frame._containers))
+            rospy.loginfo("SUCCEEDED: _local_data {}".format([v._local_data._data for v in self.frame._containers.values()]))
+            self.frame.kill()
+        except Exception as e:
+            rospy.logerr(e)
+            rospy.logerr("FAILED: _local_data {}".format(self.frame._containers))
+            rospy.logerr("FAILED: _local_data {}".format([v._local_data._data for v in self.frame._containers.values()]))
+            self.assertFalse(e)
+
+if __name__ == '__main__':
+    rostest.run('smach_viewer', 'test_smach_event', TestSmachViewerEvent, sys.argv)

smach_viewer/test/test_smach_event.test

@@ -0,0 +1,10 @@
+<launch>
+  <arg name="target_python" default="true" />
+  <arg name="target_roseus" default="false" />
+  <node if="$(arg target_python)"
+        pkg="smach_viewer" name="test_smach_py" type="test_smach.py" />
+  <node if="$(arg target_roseus)"
+        pkg="roseus" name="test_smach_eus" type="roseus" args="$(find smach_viewer)/test/test_smach.l" />
+  <test test-name="smach_viewer_event_test"
+        pkg="smach_viewer" type="test_smach_event.py" name="smach_viewer_event_test" />
+</launch>