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[Personalrobots-commit] SF.net SVN: personalrobots:[20337] pkg/branches/qual_test_2009_07_22
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From: <wa...@us...> - 2009-07-31 23:43:10
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Revision: 20337
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20337&view=rev
Author: wattsk
Date: 2009-07-31 23:43:02 +0000 (Fri, 31 Jul 2009)
Log Message:
-----------
Backing up qual dev branch
Modified Paths:
--------------
pkg/branches/qual_test_2009_07_22/onboard/robots.xml
pkg/branches/qual_test_2009_07_22/src/qualification/result.py
pkg/branches/qual_test_2009_07_22/src/qualification/test.py
pkg/branches/qual_test_2009_07_22/src/qualification/ui.py
pkg/branches/qual_test_2009_07_22/srv/ScriptDone.srv
pkg/branches/qual_test_2009_07_22/tests/simple_example/test.xml
pkg/branches/qual_test_2009_07_22/xrc/gui.fbp
pkg/branches/qual_test_2009_07_22/xrc/gui.xrc
Added Paths:
-----------
pkg/branches/qual_test_2009_07_22/onboard/head_cart_qual.xml
pkg/branches/qual_test_2009_07_22/onboard/pr2_qual.xml
pkg/branches/qual_test_2009_07_22/src/qualification/qual_frame.py
Removed Paths:
-------------
pkg/branches/qual_test_2009_07_22/onboard/onboards.xml
Added: pkg/branches/qual_test_2009_07_22/onboard/head_cart_qual.xml
===================================================================
--- pkg/branches/qual_test_2009_07_22/onboard/head_cart_qual.xml (rev 0)
+++ pkg/branches/qual_test_2009_07_22/onboard/head_cart_qual.xml 2009-07-31 23:43:02 UTC (rev 20337)
@@ -0,0 +1,47 @@
+<robot_tests>
+ <!-- Builds tree of onboard qualification tests for qualification GUI -->
+
+ <!-- Each element is organized as follows:
+ <parent_name label="Name as Displayed in GUI" child_name="name_of_any_subnodes">
+ <child_name label="Child name as Displayed in GUI"
+ pre="pre_subtest_script.launch"
+ test="test_launch_file.launch" />
+ <child_name label="Other Child name as Displayed in GUI"
+ pre="pre_subtest_script.launch"
+ test="other_test_launch_file.launch" />
+ </parent_name>
+ Labels must be unique for each element. Base folder is qualification/onboard
+
+ Change child_name -> node_name ...
+ Relabel to reduce confusion
+
+ -->
+
+ <robot label="Robot Checkout and Visualization"
+ test="checkout/robot_checkout.launch" />
+
+ <robot label="Sensors" child_name="sensors" >
+ <sensors label="Tilt Hokuyo"
+ test="hokuyo_test/tilt_selftest.launch" />
+ </robot>
+
+ <robot label="Head / Laser Tilt" child_name="head_laser_tests" >
+ <head_laser_tests label="Head" child_name="head" >
+ <head label="Head Tilt Hysteresis"
+ test="head_test/hysteresis_head_tilt.launch" />
+ <head label="Head Tilt Sinesweep"
+ test="head_test/sinesweep_head_tilt.launch" />
+ <head label="Head Pan Hysteresis"
+ test="head_test/hysteresis_head_pan.launch" />
+ <head label="Head Pan Sinesweep"
+ test="head_test/sinesweep_head_pan.launch" />
+ </head_laser_tests>
+ <head_laser_tests label="Laser Tilt" child_name="laser_tilt" >
+ <laser_tilt label="Laser Tilt Hysteresis"
+ test="laser_tilt_test/hysteresis_laser_tilt.launch" />
+ <laser_tilt label="Laser Tilt Sinesweep"
+ test="laser_tilt_test/sinesweep_laser_tilt.launch" />
+ </head_laser_tests>
+ </robot>
+
+</robot_tests>
Deleted: pkg/branches/qual_test_2009_07_22/onboard/onboards.xml
===================================================================
--- pkg/branches/qual_test_2009_07_22/onboard/onboards.xml 2009-07-31 23:30:47 UTC (rev 20336)
+++ pkg/branches/qual_test_2009_07_22/onboard/onboards.xml 2009-07-31 23:43:02 UTC (rev 20337)
@@ -1,238 +0,0 @@
-<robot_tests>
- <!-- Builds tree of onboard qualification tests for qualification GUI -->
-
- <!-- Each element is organized as follows:
- <parent_name label="Name as Displayed in GUI" child_name="name_of_any_subnodes">
- <child_name label="Child name as Displayed in GUI"
- pre="pre_subtest_script.launch"
- test="test_launch_file.launch" />
- <child_name label="Other Child name as Displayed in GUI"
- pre="pre_subtest_script.launch"
- test="other_test_launch_file.launch" />
- </parent_name>
- Labels must be unique for each element. Base folder is qualification/onboard
-
- Change child_name -> node_name ...
- Relabel to reduce confusion
-
- -->
-
- <robot label="Robot Checkout" test="checkout/robot_checkout.launch" />
-
- <robot label="Sensors" child_name="sensors" >
- <sensors label="Base Hokuyo"
- test="hokuyo_test/base_selftest.launch" />
- <sensors label="Tilt Hokuyo"
- test="hokuyo_test/tilt_selftest.launch" />
- <sensors label="IMU"
- test="imu_test/selftest.launch" />
- </robot>
-
- <robot label="Right Arm" child_name="right_arm" >
- <!-- No sinesweeps for shoulder -->
- <right_arm label="Counterbalance - Right"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/counterbalance_test.launch" />
-
- <right_arm label="Shoulder - Right" child_name="r_shoulder" >
- <r_shoulder label="R Shoulder Pan Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_shoulder_pan.launch" />
- <r_shoulder label="R Shoulder Lift Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_shoulder_lift.launch" />
- <r_shoulder label="R Upperarm Roll Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_upper_arm_roll.launch" />
- </right_arm>
- <right_arm label="Upperarm - Right" child_name="r_upperarm" >
- <r_upperarm label="R Elbow Flex Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_elbow_flex.launch" />
- <r_upperarm label="R Elbow Flex Sinesweep"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/sinesweep_elbow_flex.launch" />
- <r_upperarm label="R Forearm Roll Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_forearm_roll.launch" />
- <r_upperarm label="R Forearm Roll Sinesweep"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/sinesweep_forearm_roll.launch" />
- </right_arm>
- <right_arm label="Wrist - Right" child_name="r_wrist" >
- <r_wrist label="R Wrist Flex Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_wrist_flex.launch" />
- <r_wrist label="R Wrist Flex Sinesweep"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/sinesweep_wrist_flex.launch" />
- <r_wrist label="R Wrist Roll Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_wrist_roll.launch" />
- <r_wrist label="R Wrist Roll Sinesweep"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/sinesweep_wrist_roll.launch" />
- </right_arm>
- <right_arm label="Gripper - Right" child_name="r_gripper" >
- <r_gripper label="R Gripper Hysteresis"
- pre="full_arm_test/right_arm_test.launch"
- test="full_arm_test/hysteresis_gripper.launch" />
- </right_arm>
- </robot>
-
- <robot label="Left Arm" child_name="left_arm" >
- <left_arm label="Shoulder - Left" child_name="l_shoulder" >
- <l_shoulder label="L Shoulder Pan Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_shoulder_pan.launch" />
- <l_shoulder label="L Shoulder Lift Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_shoulder_lift.launch" />
- <l_shoulder label="L Upperarm Roll Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_upper_arm_roll.launch" />
- </left_arm>
- <left_arm label="Upperarm - Left" child_name="l_upperarm" >
- <l_upperarm label="L Elbow Flex Hysteresis"
- pre="left_arm_test.launch"
- test="full_arm_test/hysteresis_elbow_flex.launch" />
- <l_upperarm label="L Elbow Flex Sinesweep"
- pre="left_arm_test.launch"
- test="full_arm_test/sinesweep_elbow_flex.launch" />
- <l_upperarm label="L Forearm Roll Hysteresis"
- pre="left_arm_test.launch"
- test="full_arm_test/hysteresis_forearm_roll.launch" />
- <l_upperarm label="L Forearm Roll Sinesweep"
- pre="left_arm_test.launch"
- test="full_arm_test/sinesweep_forearm_roll.launch" />
- </left_arm>
- <left_arm label="Wrist - Left" child_name="l_wrist" >
- <l_wrist label="L Wrist Flex Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_wrist_flex.launch" />
- <l_wrist label="L Wrist Flex Sinesweep"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/sinesweep_wrist_flex.launch" />
- <l_wrist label="L Wrist Roll Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_wrist_roll.launch" />
- <l_wrist label="L Wrist Roll Sinesweep"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/sinesweep_wrist_roll.launch" />
- </left_arm>
- <left_arm label="Gripper - Left" child_name="l_gripper" >
- <l_gripper label="L Gripper Hysteresis"
- pre="full_arm_test/left_arm_test.launch"
- test="full_arm_test/hysteresis_gripper.launch" />
- </left_arm>
- </robot>
-
- <robot label="Head / Laser Tilt" child_name="head_laser_tests" >
- <head_laser_tests label="Head" child_name="head" >
- <head label="Head Tilt Hysteresis"
- test="head_test/hysteresis_head_tilt.launch" />
- <head label="Head Tilt Sinesweep"
- test="head_test/sinesweep_head_tilt.launch" />
- <head label="Head Pan Hysteresis"
- test="head_test/hysteresis_head_pan.launch" />
- <head label="Head Pan Sinesweep"
- test="head_test/sinesweep_head_pan.launch" />
- </head_laser_tests>
- <head_laser_tests label="Laser Tilt" child_name="laser_tilt" >
- <laser_tilt label="Laser Tilt Hysteresis"
- test="laser_tilt_test/hysteresis_laser_tilt.launch" />
- <laser_tilt label="Laser Tilt Sinesweep"
- test="laser_tilt_test/sinesweep_laser_tilt.launch" />
- </head_laser_tests>
- </robot>
-
- <robot label="Spine Test"
- test="torso_lift_test/hysteresis_torso_lift.launch" />
-
- <robot label="Base Tests" child_name="base_tests" >
- <base_tests label="FL Caster" child_name="fl_caster" >
- <fl_caster label="FL Caster Turret Hysteresis"
- pre="caster_test/fl_caster.launch"
- test="caster_test/hysteresis_caster_turret.launch" />
- <fl_caster label="FL Caster Turret Sinesweep"
- pre="caster_test/fl_caster.launch"
- test="caster_test/sinesweep_caster_turret.launch" />
- <fl_caster label="FL Caster R Wheel Hysteresis"
- pre="caster_test/fl_caster.launch"
- test="caster_test/hysteresis_caster_right.launch" />
- <fl_caster label="FL Caster R Wheel Sinesweep"
- pre="caster_test/fl_caster.launch"
- test="caster_test/sinesweep_caster_right.launch" />
- <fl_caster label="FL Caster L Wheel Hysteresis"
- pre="caster_test/fl_caster.launch"
- test="caster_test/hysteresis_caster_left.launch" />
- <fl_caster label="FL Caster L Wheel Sinesweep"
- pre="caster_test/fl_caster.launch"
- test="caster_test/sinesweep_caster_left.launch" />
- </base_tests>
-
- <base_tests label="FR Caster" child_name="fr_caster" >
- <fr_caster label="FR Caster Turret Hysteresis"
- pre="caster_test/fr_caster.launch"
- test="caster_test/hysteresis_caster_turret.launch" />
- <fr_caster label="FR Caster Turret Sinesweep"
- pre="caster_test/fr_caster.launch"
- test="caster_test/sinesweep_caster_turret.launch" />
- <fr_caster label="FR Caster R Wheel Hysteresis"
- pre="caster_test/fr_caster.launch"
- test="caster_test/hysteresis_caster_right.launch" />
- <fr_caster label="FR Caster R Wheel Sinesweep"
- pre="caster_test/fr_caster.launch"
- test="caster_test/sinesweep_caster_right.launch" />
- <fr_caster label="FR Caster L Wheel Hysteresis"
- pre="caster_test/fr_caster.launch"
- test="caster_test/hysteresis_caster_left.launch" />
- <fr_caster label="FR Caster L Wheel Sinesweep"
- pre="caster_test/fr_caster.launch"
- test="caster_test/sinesweep_caster_left.launch" />
- </base_tests>
-
- <base_tests label="BL Caster" child_name="bl_caster" >
- <bl_caster label="BL Caster Turret Hysteresis"
- pre="caster_test/bl_caster.launch"
- test="caster_test/hysteresis_caster_turret.launch" />
- <bl_caster label="BL Caster Turret Sinesweep"
- pre="caster_test/bl_caster.launch"
- test="caster_test/sinesweep_caster_turret.launch" />
- <bl_caster label="BL Caster R Wheel Hysteresis"
- pre="caster_test/bl_caster.launch"
- test="caster_test/hysteresis_caster_right.launch" />
- <bl_caster label="BL Caster R Wheel Sinesweep"
- pre="caster_test/bl_caster.launch"
- test="caster_test/sinesweep_caster_right.launch" />
- <bl_caster label="BL Caster L Wheel Hysteresis"
- pre="caster_test/bl_caster.launch"
- test="caster_test/hysteresis_caster_left.launch" />
- <bl_caster label="BL Caster L Wheel Sinesweep"
- pre="caster_test/bl_caster.launch"
- test="caster_test/sinesweep_caster_left.launch" />
- </base_tests>
-
- <base_tests label="BR Caster" child_name="br_caster" >
- <br_caster label="BR Caster Turret Hysteresis"
- pre="caster_test/br_caster.launch"
- test="caster_test/hysteresis_caster_turret.launch" />
- <br_caster label="BR Caster Turret Sinesweep"
- pre="caster_test/br_caster.launch"
- test="caster_test/sinesweep_caster_turret.launch" />
- <br_caster label="BR Caster R Wheel Hysteresis"
- pre="caster_test/br_caster.launch"
- test="caster_test/hysteresis_caster_right.launch" />
- <br_caster label="BR Caster R Wheel Sinesweep"
- pre="caster_test/br_caster.launch"
- test="caster_test/sinesweep_caster_right.launch" />
- <br_caster label="BR Caster L Wheel Hysteresis"
- pre="caster_test/br_caster.launch"
- test="caster_test/hysteresis_caster_left.launch" />
- <br_caster label="BR Caster L Wheel Sinesweep"
- pre="caster_test/br_caster.launch"
- test="caster_test/sinesweep_caster_left.launch" />
- </base_tests>
-</robot>
-
-</robot_tests>
Copied: pkg/branches/qual_test_2009_07_22/onboard/pr2_qual.xml (from rev 19448, pkg/branches/qual_test_2009_07_22/onboard/onboards.xml)
===================================================================
--- pkg/branches/qual_test_2009_07_22/onboard/pr2_qual.xml (rev 0)
+++ pkg/branches/qual_test_2009_07_22/onboard/pr2_qual.xml 2009-07-31 23:43:02 UTC (rev 20337)
@@ -0,0 +1,239 @@
+<robot_tests>
+ <!-- Builds tree of onboard qualification tests for qualification GUI -->
+
+ <!-- Each element is organized as follows:
+ <parent_name label="Name as Displayed in GUI" child_name="name_of_any_subnodes">
+ <child_name label="Child name as Displayed in GUI"
+ pre="pre_subtest_script.launch"
+ test="test_launch_file.launch" />
+ <child_name label="Other Child name as Displayed in GUI"
+ pre="pre_subtest_script.launch"
+ test="other_test_launch_file.launch" />
+ </parent_name>
+ Labels must be unique for each element. Base folder is qualification/onboard
+
+ Change child_name -> node_name ...
+ Relabel to reduce confusion
+
+ -->
+
+ <robot label="Robot Checkout" test="checkout/robot_checkout.launch"
+ key="0.0" />
+
+ <robot label="Sensors" child_name="sensors" >
+ <sensors label="Base Hokuyo"
+ test="hokuyo_test/base_selftest.launch" />
+ <sensors label="Tilt Hokuyo"
+ test="hokuyo_test/tilt_selftest.launch" />
+ <sensors label="IMU"
+ test="imu_test/selftest.launch" />
+ </robot>
+
+ <robot label="Right Arm" child_name="right_arm" >
+ <!-- No sinesweeps for shoulder -->
+ <right_arm label="Counterbalance - Right"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/counterbalance_test.launch" />
+
+ <right_arm label="Shoulder - Right" child_name="r_shoulder" >
+ <r_shoulder label="R Shoulder Pan Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_shoulder_pan.launch" />
+ <r_shoulder label="R Shoulder Lift Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_shoulder_lift.launch" />
+ <r_shoulder label="R Upperarm Roll Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_upper_arm_roll.launch" />
+ </right_arm>
+ <right_arm label="Upperarm - Right" child_name="r_upperarm" >
+ <r_upperarm label="R Elbow Flex Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_elbow_flex.launch" />
+ <r_upperarm label="R Elbow Flex Sinesweep"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/sinesweep_elbow_flex.launch" />
+ <r_upperarm label="R Forearm Roll Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_forearm_roll.launch" />
+ <r_upperarm label="R Forearm Roll Sinesweep"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/sinesweep_forearm_roll.launch" />
+ </right_arm>
+ <right_arm label="Wrist - Right" child_name="r_wrist" >
+ <r_wrist label="R Wrist Flex Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_wrist_flex.launch" />
+ <r_wrist label="R Wrist Flex Sinesweep"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/sinesweep_wrist_flex.launch" />
+ <r_wrist label="R Wrist Roll Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_wrist_roll.launch" />
+ <r_wrist label="R Wrist Roll Sinesweep"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/sinesweep_wrist_roll.launch" />
+ </right_arm>
+ <right_arm label="Gripper - Right" child_name="r_gripper" >
+ <r_gripper label="R Gripper Hysteresis"
+ pre="full_arm_test/right_arm_test.launch"
+ test="full_arm_test/hysteresis_gripper.launch" />
+ </right_arm>
+ </robot>
+
+ <robot label="Left Arm" child_name="left_arm" >
+ <left_arm label="Shoulder - Left" child_name="l_shoulder" >
+ <l_shoulder label="L Shoulder Pan Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_shoulder_pan.launch" />
+ <l_shoulder label="L Shoulder Lift Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_shoulder_lift.launch" />
+ <l_shoulder label="L Upperarm Roll Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_upper_arm_roll.launch" />
+ </left_arm>
+ <left_arm label="Upperarm - Left" child_name="l_upperarm" >
+ <l_upperarm label="L Elbow Flex Hysteresis"
+ pre="left_arm_test.launch"
+ test="full_arm_test/hysteresis_elbow_flex.launch" />
+ <l_upperarm label="L Elbow Flex Sinesweep"
+ pre="left_arm_test.launch"
+ test="full_arm_test/sinesweep_elbow_flex.launch" />
+ <l_upperarm label="L Forearm Roll Hysteresis"
+ pre="left_arm_test.launch"
+ test="full_arm_test/hysteresis_forearm_roll.launch" />
+ <l_upperarm label="L Forearm Roll Sinesweep"
+ pre="left_arm_test.launch"
+ test="full_arm_test/sinesweep_forearm_roll.launch" />
+ </left_arm>
+ <left_arm label="Wrist - Left" child_name="l_wrist" >
+ <l_wrist label="L Wrist Flex Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_wrist_flex.launch" />
+ <l_wrist label="L Wrist Flex Sinesweep"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/sinesweep_wrist_flex.launch" />
+ <l_wrist label="L Wrist Roll Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_wrist_roll.launch" />
+ <l_wrist label="L Wrist Roll Sinesweep"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/sinesweep_wrist_roll.launch" />
+ </left_arm>
+ <left_arm label="Gripper - Left" child_name="l_gripper" >
+ <l_gripper label="L Gripper Hysteresis"
+ pre="full_arm_test/left_arm_test.launch"
+ test="full_arm_test/hysteresis_gripper.launch" />
+ </left_arm>
+ </robot>
+
+ <robot label="Head / Laser Tilt" child_name="head_laser_tests" >
+ <head_laser_tests label="Head" child_name="head" >
+ <head label="Head Tilt Hysteresis"
+ test="head_test/hysteresis_head_tilt.launch" />
+ <head label="Head Tilt Sinesweep"
+ test="head_test/sinesweep_head_tilt.launch" />
+ <head label="Head Pan Hysteresis"
+ test="head_test/hysteresis_head_pan.launch" />
+ <head label="Head Pan Sinesweep"
+ test="head_test/sinesweep_head_pan.launch" />
+ </head_laser_tests>
+ <head_laser_tests label="Laser Tilt" child_name="laser_tilt" >
+ <laser_tilt label="Laser Tilt Hysteresis"
+ test="laser_tilt_test/hysteresis_laser_tilt.launch" />
+ <laser_tilt label="Laser Tilt Sinesweep"
+ test="laser_tilt_test/sinesweep_laser_tilt.launch" />
+ </head_laser_tests>
+ </robot>
+
+ <robot label="Spine Test"
+ test="torso_lift_test/hysteresis_torso_lift.launch" />
+
+ <robot label="Base Tests" child_name="base_tests" >
+ <base_tests label="FL Caster" child_name="fl_caster" >
+ <fl_caster label="FL Caster Turret Hysteresis"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/hysteresis_caster_turret.launch" />
+ <fl_caster label="FL Caster Turret Sinesweep"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/sinesweep_caster_turret.launch" />
+ <fl_caster label="FL Caster R Wheel Hysteresis"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/hysteresis_caster_right.launch" />
+ <fl_caster label="FL Caster R Wheel Sinesweep"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/sinesweep_caster_right.launch" />
+ <fl_caster label="FL Caster L Wheel Hysteresis"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/hysteresis_caster_left.launch" />
+ <fl_caster label="FL Caster L Wheel Sinesweep"
+ pre="caster_test/fl_caster.launch"
+ test="caster_test/sinesweep_caster_left.launch" />
+ </base_tests>
+
+ <base_tests label="FR Caster" child_name="fr_caster" >
+ <fr_caster label="FR Caster Turret Hysteresis"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/hysteresis_caster_turret.launch" />
+ <fr_caster label="FR Caster Turret Sinesweep"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/sinesweep_caster_turret.launch" />
+ <fr_caster label="FR Caster R Wheel Hysteresis"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/hysteresis_caster_right.launch" />
+ <fr_caster label="FR Caster R Wheel Sinesweep"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/sinesweep_caster_right.launch" />
+ <fr_caster label="FR Caster L Wheel Hysteresis"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/hysteresis_caster_left.launch" />
+ <fr_caster label="FR Caster L Wheel Sinesweep"
+ pre="caster_test/fr_caster.launch"
+ test="caster_test/sinesweep_caster_left.launch" />
+ </base_tests>
+
+ <base_tests label="BL Caster" child_name="bl_caster" >
+ <bl_caster label="BL Caster Turret Hysteresis"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/hysteresis_caster_turret.launch" />
+ <bl_caster label="BL Caster Turret Sinesweep"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/sinesweep_caster_turret.launch" />
+ <bl_caster label="BL Caster R Wheel Hysteresis"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/hysteresis_caster_right.launch" />
+ <bl_caster label="BL Caster R Wheel Sinesweep"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/sinesweep_caster_right.launch" />
+ <bl_caster label="BL Caster L Wheel Hysteresis"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/hysteresis_caster_left.launch" />
+ <bl_caster label="BL Caster L Wheel Sinesweep"
+ pre="caster_test/bl_caster.launch"
+ test="caster_test/sinesweep_caster_left.launch" />
+ </base_tests>
+
+ <base_tests label="BR Caster" child_name="br_caster" >
+ <br_caster label="BR Caster Turret Hysteresis"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/hysteresis_caster_turret.launch" />
+ <br_caster label="BR Caster Turret Sinesweep"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/sinesweep_caster_turret.launch" />
+ <br_caster label="BR Caster R Wheel Hysteresis"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/hysteresis_caster_right.launch" />
+ <br_caster label="BR Caster R Wheel Sinesweep"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/sinesweep_caster_right.launch" />
+ <br_caster label="BR Caster L Wheel Hysteresis"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/hysteresis_caster_left.launch" />
+ <br_caster label="BR Caster L Wheel Sinesweep"
+ pre="caster_test/br_caster.launch"
+ test="caster_test/sinesweep_caster_left.launch" />
+ </base_tests>
+</robot>
+
+</robot_tests>
Property changes on: pkg/branches/qual_test_2009_07_22/onboard/pr2_qual.xml
___________________________________________________________________
Added: svn:mergeinfo
+
Modified: pkg/branches/qual_test_2009_07_22/onboard/robots.xml
===================================================================
--- pkg/branches/qual_test_2009_07_22/onboard/robots.xml 2009-07-31 23:30:47 UTC (rev 20336)
+++ pkg/branches/qual_test_2009_07_22/onboard/robots.xml 2009-07-31 23:43:02 UTC (rev 20337)
@@ -1,11 +1,20 @@
<robots>
- <robot name="PRE" pkg="pr2_alpha" file="pre.launch"
-
-/>
+ <robot name="PRE" start_pkg="pr2_alpha" startup="pre.launch"
+ test_file="pr2_qual.xml" serial="my_serial" />
+
+
+ <robot name="HCA" start_pkg="pr2_head_cart" startup="hca.launch"
+ test_file="head_cart_qual.xml" serial="hca" />
+
+ <robot name="HCC" start_pkg="pr2_head_cart" startup="hcc.launch"
+ test_file="head_cart_qual.xml" serial="hcc" />
+
+
+<!--
<robot name="PRF" pkg="pr2_alpha" file="prf.launch" />
<robot name="PRG" pkg="pr2_alpha" file="prg.launch" />
- <robot name="HCA" pkg="pr2_head_cart" file="hca.launch" />
<robot name="HCB" pkg="pr2_head_cart" file="hcb.launch" />
<robot name="HCC" pkg="pr2_head_cart" file="hcc.launch" />
+-->
</robots>
Added: pkg/branches/qual_test_2009_07_22/src/qualification/qual_frame.py
===================================================================
--- pkg/branches/qual_test_2009_07_22/src/qualification/qual_frame.py (rev 0)
+++ pkg/branches/qual_test_2009_07_22/src/qualification/qual_frame.py 2009-07-31 23:43:02 UTC (rev 20337)
@@ -0,0 +1,714 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, 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 the Willow Garage 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.
+
+### Author: Kevin Watt
+
+import roslib
+import roslib.packages
+roslib.load_manifest('qualification')
+
+import rospy
+
+import os
+import sys
+from datetime import datetime
+import wx
+import time
+from wx import xrc
+from wx import html
+
+from xml.dom import minidom
+
+from qualification.msg import *
+from qualification.srv import *
+from qualification.test import *
+from qualification.result import *
+
+import traceback
+
+import invent_client.invent_client
+from invent_client.invent_client import Invent
+
+import runtime_monitor
+from runtime_monitor.monitor_panel import MonitorPanel
+
+import wg_hardware_roslaunch.roslaunch_caller as roslaunch_caller
+
+
+RESULTS_DIR = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'results')
+
+## Main frame of qualification
+## Loads tests, launches them and records results
+class QualificationFrame(wx.Frame):
+ def __init__(self, parent):
+ wx.Frame.__init__(self, parent, wx.ID_ANY, "Qualification")
+
+ self._result_service = None
+ self._prestartup_done_srv = None
+ self._shutdown_done_srv = None
+
+ self.load_wg_test_map()
+
+ self.create_menu_bar()
+
+ # Load the XRC resource
+ xrc_path = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'xrc/gui.xrc')
+ self._res = xrc.XmlResource(xrc_path)
+
+ # Load the main panel
+ self._root_panel = self._res.LoadPanel(self, 'main_panel')
+
+ self._top_panel = xrc.XRCCTRL(self._root_panel, "top_panel")
+ self._top_sizer = wx.BoxSizer(wx.HORIZONTAL)
+ self._top_panel.SetSizer(self._top_sizer)
+ self._current_panel = None
+ self._log_panel = xrc.XRCCTRL(self._root_panel, "log_panel")
+ self._log = xrc.XRCCTRL(self._log_panel, 'log')
+
+ self._test_log = {} # Move to results class?
+ self.log("Startup")
+ self.reset()
+
+ self.Bind(wx.EVT_CLOSE, self.on_close)
+
+ self._startup_launch = None
+ self._shutdown_launch = None
+ self._subtest_launch = None
+ self._prestartup_launch = None
+ self._current_test = None
+
+ self._spin_timer = wx.Timer(self, wx.ID_ANY)
+ self.Bind(wx.EVT_TIMER, self.on_spin, self._spin_timer)
+ self._spin_timer.Start(100)
+
+ self._show_results_always = False
+ #self._config_service = None
+
+ rospy.set_param('/invent/username', '')
+ rospy.set_param('/invent/password', '')
+
+ def create_menu_bar(self):
+ menubar = wx.MenuBar()
+ self._file_menu = wx.Menu()
+ self._file_menu.Append(1001, "Invent Login\tCTRL+l")
+ self._file_menu.Append(wx.ID_EXIT, "E&xit")
+ menubar.Append(self._file_menu, "&File")
+
+ self._options_menu = wx.Menu()
+ self._options_menu.AppendCheckItem(2001, "Always Show Results")
+ menubar.Append(self._options_menu, "&Options")
+
+ self._powerboard_menu = wx.Menu()
+ self._powerboard_menu.Append(3101, "Power Board\tCTRL+b")
+ self._powerboard_menu.AppendCheckItem(3150, "Breaker 0\tCTRL+0")
+ self._powerboard_menu.AppendCheckItem(3151, "Breaker 1\tCTRL+1")
+ self._powerboard_menu.AppendCheckItem(3152, "Breaker 2\tCTRL+2")
+ self._powerboard_menu.Check(3150, rospy.get_param('powerboard/0'))
+ self._powerboard_menu.Check(3151, rospy.get_param('powerboard/1'))
+ self._powerboard_menu.Check(3152, rospy.get_param('powerboard/2'))
+
+ menubar.Append(self._powerboard_menu, "&Powerboard")
+
+ self._host_menu = wx.Menu()
+ self._host_menu.Append(4001, "Select Test Host\tCTRL+h")
+ menubar.Append(self._host_menu, "Test &Host")
+
+ self.SetMenuBar(menubar)
+ self.Bind(wx.EVT_MENU, self.on_menu)
+
+ def on_menu(self, event):
+ if (event.GetEventObject() == self._file_menu):
+ if (event.GetId() == wx.ID_EXIT):
+ self.Close()
+ return
+ if (event.GetId() == 1001):
+ self.login_to_invent()
+ return
+
+ if (event.GetEventObject() == self._options_menu):
+ if (event.GetId() == 2001):
+ self._show_results_always = self._options_menu.IsChecked(2001)
+
+ if (event.GetEventObject() == self._powerboard_menu):
+ if (event.GetId() == 3101):
+ while not rospy.is_shutdown():
+ # Get powerboard from user
+ serial = wx.GetTextFromUser('Enter last four digits of power board serial number', 'Select Power Board', rospy.get_param('powerboard/serial'))
+ if len(serial) == 4 and unicode(serial).isnumeric():
+ rospy.set_param('powerboard/serial', serial)
+ break
+ are_you_sure = wx.MessageDialog(self, 'Invalid powerboard ID. Retry?', 'Invalid serial',
+ wx.OK|wx.CANCEL)
+ if are_you_sure.ShowModal() != wx.ID_OK:
+ break
+
+
+ if (event.GetId() == 3150):
+ rospy.set_param('powerboard/0', self._powerboard_menu.IsChecked(2150))
+ if (event.GetId() == 3151):
+ rospy.set_param('powerboard/1', self._powerboard_menu.IsChecked(2151))
+ if (event.GetId() == 3152):
+ rospy.set_param('powerboard/2', self._powerboard_menu.IsChecked(2152))
+
+ if (event.GetEventObject() == self._host_menu):
+ if (event.GetId() == 4001):
+ host = wx.GetTextFromUser('Enter test host', 'Test Host', os.environ['ROS_TEST_HOST'])
+ os.environ['ROS_TEST_HOST'] = host
+
+ def load_wg_test_map(self):
+ # Load 'Map' of WG test locations to find defaults for this machine
+ map_xml_path = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'wg_map.xml')
+
+ gui_name = socket.gethostname()
+
+ try:
+ doc = minidom.parse(map_xml_path)
+ except IOError:
+ print >> sys.stderr, "Could not load test map from '%s'"%(map_xml_path)
+ sys.exit()
+
+ stations = doc.getElementsByTagName('station')
+
+ my_station = None
+ for station in stations:
+ if station.attributes['gui'].value == gui_name:
+ my_station = station
+ break
+
+ if not my_station:
+ my_station = stations[0]
+
+ rospy.set_param('powerboard/serial', my_station.attributes['powerboard'].value)
+ rospy.set_param('powerboard/0', bool(my_station.attributes['breaker0'].value))
+ rospy.set_param('powerboard/1', bool(my_station.attributes['breaker1'].value))
+ rospy.set_param('powerboard/2', bool(my_station.attributes['breaker2'].value))
+ os.environ['ROS_TEST_HOST'] = my_station.attributes['host'].value
+
+ def log(self, msg):
+ log_msg = datetime.now().strftime("%m/%d/%Y %H:%M:%S: ") + msg
+ self._test_log[datetime.now()] = msg
+ self._log.AppendText(log_msg + '\n')
+ self._log.Refresh()
+ self._log.Update()
+
+ def set_top_panel(self, panel):
+ if self._current_panel == panel:
+ return
+
+ self._current_panel = panel
+ self._top_sizer.Clear(True)
+ self._top_sizer.Add(self._current_panel, 1, wx.EXPAND|wx.ALIGN_CENTER_VERTICAL)
+ self._top_panel.Layout()
+
+ ## Override with inheritance
+ # def get_loader_panel(self):
+ # return serial_panel or pr2_qual_panel
+
+ def reset(self):
+ #
+ self.set_top_panel(SerialPanel(self._top_panel, self._res, self))
+ self._results = None
+ self._plots_panel = None
+ self._test_log = {}
+
+ # Called from serial panel
+ # Rename to something useful at some point
+ def begin_test(self, test, qual_item):
+ self._current_test = test
+ self._current_item = qual_item
+
+ rospy.set_param('qualification/serial', self._current_item.serial)
+ rospy.set_param('qualification/name', self._current_item.name)
+
+ if (self._current_test.getInstructionsFile() != None):
+ self.set_top_panel(InstructionsPanel(self._top_panel, self._res, self, self._current_test.getInstructionsFile()))
+ else:
+ self.start_qualification()
+
+ # Launches program for either onboard, component conf or test cart tests
+ def start_qualification(self):
+ if (len(self._current_test.subtests) == 0):
+ wx.MessageBox('Test selected has no subtests defined', 'No tests', wx.OK|wx.ICON_ERROR, self)
+ return
+
+ self._tests_start_date = datetime.now()
+
+ self._results = QualTestResult(self._current_item, self._current_test, self._tests_start_date)
+
+ # Create plots panel to show plots, runtime monitor.
+ self._plots_panel = PlotsPanel(self._top_panel, self._res, self)
+
+ if (self._result_service != None):
+ self._result_service.shutdown()
+ self._result_service = None
+
+ self._result_service = rospy.Service('test_result', TestResult, self.subtest_callback)
+
+ self.run_prestartup_scripts()
+
+ def run_prestartup_scripts(self):
+ # Run any pre_startup scripts synchronously
+ if (len(self._current_test.pre_startup_scripts) == 0):
+ self.log('No prestartup scripts.')
+ self.test_startup()
+ return
+
+ self._prestartup_index = 0
+
+ if (self._prestartup_done_srv != None):
+ self._prestartup_done_srv.shutdown()
+ self._prestartup_done_srv = None
+
+ print 'Running prestartup scripts'
+ self._prestartup_done_srv = rospy.Service('prestartup_done', ScriptDone, self.prestartup_done_callback)
+
+ self.prestartup_call()
+
+ def prestartup_done_callback(self, srv):
+ wx.CallAfter(self.prestartup_finished, srv)
+
+ return ScriptDoneResponse()
+
+ def prestartup_finished(self, srv):
+ if self._prestartup_launch != None:
+ self._prestartup_launch.shutdown()
+ self._prestartup_launch = None
+
+ result_dict = { 0: 'OK', 1: 'FAIL', 2: 'ERROR' }
+ self.log('Prestartup script %s finished. Result %s.' % (srv.script, result_dict[srv.result]))
+
+ self._results.add_prestartup_result(self._prestartup_index, srv)
+
+ if srv.result == 0:
+ # Continue to next test
+ self._prestartup_index += 1
+ if self._prestartup_index >= len(self._current_test.pre_startup_scripts):
+
+ if self._prestartup_done_srv:
+ self._prestartup_done_srv.shutdown()
+ self._prestartup_done_srv = None
+
+ self.test_startup()
+ else:
+ self.prestartup_call()
+ else:
+ if self._prestartup_done_srv:
+ self._prestartup_done_srv.shutdown()
+ self._prestartup_done_srv = None
+
+ self.test_finished()
+
+ def prestartup_call(self):
+ script = self._current_test.pre_startup_scripts[self._prestartup_index].launch_file
+ name = self._current_test.pre_startup_scripts[self._prestartup_index].get_name()
+ # update script label in waiting panel
+ log_message = 'Running pre_startup script [%s]...'%(name)
+ self.log(log_message)
+
+ wait_html = '<html><H2 align=center>Prestartup Scripts Running</H2>\n'
+ wait_html += '<H3 align=center>Script: %s</H3>\n</html>' % name
+
+ self._plots_panel.show_waiting(wait_html)
+
+ self.set_top_panel(self._plots_panel)
+
+ self._prestartup_launch = self.launch_script(script, None)
+ if (self._prestartup_launch == None):
+ s = 'Could not load roslaunch script "%s"! Press OK to cancel test.' % (os.path.basename(script))
+ wx.MessageBox(s, 'Invalid roslaunch file', wx.OK|wx.ICON_ERROR, self)
+ self.cancel(s)
+ return
+
+
+ def test_startup(self):
+ # Run the startup script if we have one
+ startup = self._current_test.getStartupScript()
+
+ if startup:
+ self.log('Running startup script...')
+ self._startup_launch = self.launch_script(startup.launch_file, None)
+ if (self._startup_launch == None):
+ s = 'Could not load roslaunch script %s, file: "%s"' % (startup.get_name(), os.path.basename(startup.launch_file))
+ wx.MessageBox(s, 'Invalid roslaunch file. Press OK to cancel.', wx.OK|wx.ICON_ERROR, self)
+ self.cancel(s)
+ return
+ else:
+ self.log('No startup script')
+
+ self.start_subtest(0)
+
+ def make_html_waiting_page(self, subtest_name, index, len_subtests):
+ html = '<html>\n<H2 align=center>Waiting for Subtest to Complete</H2>\n'
+ html += '<H3 align=center>Test Name: %s</H3>\n' % subtest_name
+ html += '<H4 align=center>Test %s of %s</H4>\n</html>' % (index + 1, len_subtests)
+ return html
+
+ def start_subtest(self, index):
+ subtest = self._current_test.subtests[self._subtest_index]
+
+ self._plots_panel.show_waiting(self.make_html_waiting_page(subtest.get_name(), index, len(self._current_test.subtests)))
+ self.set_top_panel(self._plots_panel)
+
+ self.launch_pre_subtest()
+
+ script = subtest._test_script
+ self._subtest_launch = self.launch_script(script, None)
+ if (self._subtest_launch == None):
+ s = 'Could not load roslaunch script "%s"'%(os.path.basename(script))
+ wx.MessageBox(s, 'Invalid roslaunch file. Press OK to cancel.', wx.OK|wx.ICON_ERROR, self)
+ self.cancel(s)
+ return
+
+ def show_results(self):
+ panel = ResultsPanel(self._top_panel, self._res, self)
+ self.set_top_panel(panel)
+
+ if self._results is not None:
+ self._results.write_results_to_file() # Write to temp dir
+ panel.set_results(self._results)
+ else:
+ self.reset()
+
+ def show_plots(self, sub_result):
+ self._plots_panel.show_plots(sub_result.make_result_page())
+ self.set_top_panel(self._plots_panel)
+
+ def login_to_invent(self):
+ dialog = self._res.LoadDialog(self, 'username_password_dialog')
+ xrc.XRCCTRL(dialog, 'text').Wrap(300)
+ dialog.Layout()
+ dialog.Fit()
+ username_ctrl = xrc.XRCCTRL(dialog, 'username')
+ password_ctrl = xrc.XRCCTRL(dialog, 'password')
+ username_ctrl.SetFocus()
+
+ # These values don't come through in the xrc file
+ username_ctrl.SetMinSize(wx.Size(200, -1))
+ password_ctrl.SetMinSize(wx.Size(200, -1))
+ if (dialog.ShowModal() == wx.ID_OK):
+ username = username_ctrl.GetValue()
+ password = password_ctrl.GetValue()
+
+ invent = Invent(username, password)
+
+ if (invent.login() == False):
+ return self.login_to_invent()
+
+ rospy.set_param('invent/username', username)
+ rospy.set_param('invent/password', password)
+ return True
+ else:
+ return False
+
+
+ # TODO: Put in invent client
+ def get_inventory_object(self):
+ username = rospy.get_param('invent/username', '')
+ password = rospy.get_param('invent/password', '')
+
+ if (username != None and password != None):
+ invent = Invent(username, password)
+ if (invent.login() == True):
+ return invent
+
+ rospy.set_param('invent/username', '')
+ rospy.set_param('invent/password', '')
+
+ if not self.login_to_invent():
+ return None
+ else:
+ return Invent(username, password)
+
+
+ def verify_submit(self):
+ submit_check = 'Are you sure you want to submit?\n\n'
+ submit_check += 'Press OK to submit or Cancel to recheck results.\n'
+ submit_check += 'Be sure to select the correct directory to record your results.\n'
+
+ are_you_sure = wx.MessageDialog(self, submit_check, 'Verify Results Submission',
+ wx.OK|wx.CANCEL)
+ return are_you_sure.ShowModal() == wx.ID_OK
+
+ def submit_results(self, notes, dir):
+ if not self.verify_submit():
+ return
+
+ if self._current_item is None:
+ self.log('Can\'t submit, no item')
+ self.reset()
+ return
+
+ if not dir.endswith('/'):
+ dir += '/'
+ self._results._results_dir = dir
+
+ invent = self.get_inventory_object()
+ self._results.set_notes(notes)
+ self._results.set_operator(rospy.get_param('invent/username', ''))
+
+ self.log('Results logged to %s' % self._results._results_dir)
+ res, log_str = self._results.log_results(invent)
+ self.log(log_str)
+
+ print 'Logged results to invent'
+
+ self._results._test_log = self._test_log
+
+ print 'Emailing results'
+ if not self._results.email_qual_team():
+ wx.MessageBox('Unable to email qualification results. Do you have \'sendmail\' installed?', 'Unable to email results', wx.OK|wx.ICON_ERROR, self)
+ self.log('Unable to email summary.')
+ else:
+ self.log('Emailed summary to %s' % self._results.get_qual_team())
+
+ self.reset()
+
+
+ def next_subtest(self):
+ if (self._subtest_index + 1 >= len(self._current_test.subtests)):
+ self.test_finished()
+ else:
+ self.start_subtest(self._subtest_index + 1)
+
+
+ def launch_pre_subtest(self):
+ subtest = self._current_test.subtests[self._subtest_index]
+
+ if (subtest._pre_script is not None):
+ script = subtest._pre_script
+ pre_launcher = self.launch_script(script, None)
+ if (pre_launcher == None):
+ s = 'Could not load pre-subtest roslaunch script "%s"'%(os.path.basename(script))
+ wx.MessageBox(s, 'Invalid roslaunch file', wx.OK|wx.ICON_ERROR, self)
+ self.cancel(s)
+ else:
+ pre_launcher.spin()
+
+ def launch_post_subtest(self):
+ subtest = self._current_test.subtests[self._subtest_index]
+
+ if (subtest._post_script is not None):
+ script = subtest._post_script
+ post_launcher = self.launch_script(script, None)
+ if (post_launcher == None):
+ s = 'Could not load post-subtest roslaunch script "%s"'%(os.path.basename(script))
+ wx.MessageBox(s, 'Invalid roslaunch file', wx.OK|wx.ICON_ERROR, self)
+ self.cancel(s)
+ else:
+ post_launcher.spin()
+
+ def retry_subtest(self, notes):
+ self.log('Retrying subtest "%s"'%(self._current_test.subtests[self._subtest_index].get_name()))
+ self._results.retry_subresult(self._subtest_index, notes)
+ self.start_subtest(self._subtest_index)
+
+
+ def subtest_result(self, pass_bool, operator_notes):
+ self.log('Subtest "%s" result: %s'%(self._current_test.subtests[self._subtest_index].get_name(), pass_bool))
+
+ sub_result = self._results.get_subresult(self._subtest_index)
+ sub_result.set_note(operator_notes)
+ sub_result.set_operator_result(pass_bool)
+
+ self.launch_post_subtest()
+
+ if pass_bool:
+ self.next_subtest()
+ else:
+ self.test_finished() # Terminate rest of test
+
+ def subtest_callback(self, msg):
+ wx.CallAfter(self.subtest_finished, msg)
+ return TestResultResponse()
+
+ def subtest_finished(self, msg):
+ # TODO: if subtest_launch is None, cancel
+
+ self._subtest_launch.shutdown()
+ self._subtest_launch = None
+
+ sub_result = self._results.add_sub_result(self._subtest_index, msg)
+
+ if self._show_results_always:
+ self.show_plots(sub_result)
+ else:
+ if (msg.result == TestResultRequest.RESULT_PASS):
+ self.subtest_result(True, '')
+ elif (msg.result == TestResultRequest.RESULT_FAIL):
+ self.subtest_result(False, "Automated failure")
+ elif (msg.result == TestResultRequest.RESULT_HUMAN_REQUIRED):
+ self.log('Subtest "%s" needs human response.'%(self._current_test.subtests[self._subtest_index].get_name()))
+ self.show_plots(sub_result)
+
+ def launch_script(self, script, process_listener_object = None):
+ self.log('Launching roslaunch file %s'%(script))
+
+ f = open(script, 'r')
+ launch_xml = f.read()
+ f.close()
+
+ launch = roslaunch_caller.ScriptRoslaunch(launch_xml, process_listener_object)
+ try:
+ launch.start()
+ except:
+ traceback.print_exc()
+ self.log('Caught exception launching file:\n%s' % traceback.format_exc())
+ return None
+
+ return launch
+
+ def on_spin(self, event):
+ if (self._subtest_launch != None):
+ self._subtest_launch.spin_once()
+
+ if (self._startup_launch != None):
+ self._startup_launch.spin_once()
+
+ if (self._shutdown_launch != None):
+ self._shutdown_launch.spin_once()
+
+ if (self._prestartup_launch != None):
+ self._prestartup_launch.spin_once()
+
+ def stop_launches(self):
+ self.log('Stopping launches')
+ if (self._subtest_launch != None):
+ self._subtest_launch.shutdown()
+
+ if (self._startup_launch != None):
+ self._startup_launch.shutdown()
+
+ if (self._shutdown_launch != None):
+ self._shutdown_launch.shutdown()
+
+ if (self._prestartup_launch != None):
+ self._prestartup_launch.shutdown()
+
+
+ self._startup_launch = None
+ self._shutdown_launch = None
+ self._prestartup_launch = None
+ self._subtest_launch = None
+ run_id = rospy.get_param('/run_id')
+ roslaunch_params = rospy.get_param('/roslaunch', '')
+ power_board = rospy.get_param('/powerboard', '')
+ invent_params = rospy.get_param('/invent', '')
+ # Reset all parameters
+ rospy.set_param('/', {'run_id': run_id,
+ 'roslaunch' : roslaunch_params,
+ 'powerboard' : power_board,
+ 'invent' : invent_params})
+ self.log('Launches stopped.')
+
+ def test_finished(self):
+ if (self._current_test is not None and self._current_test.getShutdownScript() != None):
+ self.log('Running shutdown script...')
+
+ if (self._shutdown_done_srv != None):
+ self._shutdown_done_srv.shutdown()
+ self._shutdown_done_srv = None
+
+ self._shutdown_done_srv = rospy.Service('shutdown_done', ScriptDone, self.shutdown_callback)
+
+ html = '<html><H2 align=center>Shutting down test and stopping launches</H2></html>'
+
+ self._plots_panel.show_waiting(html, False)
+ self.set_top_panel(self._plots_panel)
+
+ # Launch given shutdown script
+ script = self._current_test.getShutdownScript().launch_file
+
+ self._shutdown_launch = self.launch_script(script)
+ # TODO: display exception to user?
+
+ if self._shutdown_launch == None:
+ s = 'Could not load roslaunch shutdown script "%s". SHUTDOWN POWER BOARD MANUALLY!'%(os.path.basename(script))
+ wx.MessageBox(s, 'Invalid shutdown script!', wx.OK|wx.ICON_ERROR, self)
+ self.log('No shutdown script: %s' % (s))
+ self.log('SHUT DOWN POWER BOARD MANUALLY')
+ return
+ else:
+ self.log('No shutdown script')
+ self.test_cleanup()
+
+ def shutdown_callback(self, srv):
+ wx.CallAfter(self.shutdown_finished, srv)
+ return ScriptDoneResponse()
+
+ def shutdown_finished(self, srv):
+ self.log('Shutdown finished')
+
+ if self._shutdown_launch:
+ self._shutdown_launch.shutdown()
+ self._shutdown_launch = None
+
+ if self._shutdown_done_srv:
+ self._shutdown_done_srv.shutdown()
+ self._shutdown_done_srv = None
+
+ shutdown_script = self._current_test.getShutdownScript()
+
+ self._results.add_shutdown_result(srv)
+
+ if srv.result != ScriptDoneRequest.RESULT_OK:
+ fail_msg = 'Shutdown script failed!'
+ wx.MessageBox(fail_msg + '\n' + srv.failure_msg, fail_msg, wx.OK|wx.ICON_ERROR, self)
+ self.log('Shutdown failed for: %s' % srv.failure_msg)
+
+ self.test_cleanup()
+
+ def test_cleanup(self):
+ self.stop_launches()
+
+ self._current_test = None
+ self._subtest_index = 0
+
+ if self._results is not None:
+ self._results._test_log = self._test_log
+
+ self.show_results()
+
+ def cancel(self, error = False):
+ if self._results is not None:
+ if error:
+ self._results.error()
+ else:
+ self._results.cancel()
+
+ self.test_finished()
+
+ def on_close(self, event):
+ event.Skip()
+
+ self.stop_launches()
Modified: pkg/branches/qual_test_2009_07_22/src/qualification/result.py
===================================================================
--- pkg/branches/qual_test_2009_07_22/src/qualification/result.py 2009-07-31 23:30:47 UTC (rev 20336)
+++ pkg/branches/qual_test_2009_07_22/src/qualification/result.py 2009-07-31 23:43:02 UTC (rev 20337)
@@ -40,17 +40,13 @@
import sys, os, time, string, subprocess
from xml.dom import minidom
-
from qualification.msg import *
from srv import *
from test import *
-from result import *
-from datetime import datetime
from time import strftime
from PIL import Image
from cStringIO import StringIO
-import wx
import tarfile
import socket
@@ -65,18 +61,113 @@
RESULTS_DIR = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'results')
TEMP_DIR = os.path.join(roslib.packages.get_pkg_dir('qualification'), 'results/temp/')
+## Holds results from pre-startup and shutdown scripts
+class TestScriptResult:
+ ##@param test_script is test/TestScript that we tested
+ def __init__(self, test_script, srv_result):
+ self.name = test_script.get_name()
+ self.launch = test_script.launch_file
-ResultType = { 0: "Fail", 1: "Pass", 2: "Manual Failure", 3: "Manual Pass", 4: "Retry", 5: "Error" , 6: "Operator needed" }
+ self._result = srv_result.result
+ self.msg = srv_result.failure_msg
+
+ def get_name(self):
+ return self.name
+ def get_launch(self):
+ return os.path.basename(self.launch)
+ def get_pass_bool(self):
+ return self._result == 0
+
+ def has_error(self):
+ return self._result == 2
+
+ def get_result_msg(self):
+ result_dict = { 0: "Pass", 1: "Fail", 2: "Error"}
+ return result_dict[self._result]
+
+ def get_msg(self):
+ return self.msg
+
+## Stores results of subtests in any case. Completely encapsulates
+## numeric values of result types from users.
+class SubTestResultType:
+ __result_types = {
+ 0: "Pass",
+ 1: "Fail",
+ 2: "Human required",
+ 3: "Manual Failure",
+ 4: "Manual Pass",
+ 5: "Retry",
+ # Not currently used
+ 6: "Error" ,
+ 7: "Canceled" }
+
+ ##@param result TestResultRequest.result : 0 - Pass, 1 - Fail, 2 - Human req'd
+ def __init__(self, result):
+ self._result = result
+
+ def cancel(self):
+ self._result = 7
+
+ def retry(self):
+ self._result = 5
+
+ def manual_pass(self):
+ # Record as pass if auto-pass
+ if self._result == 0:
+ return
+ self._result = 4
+
+ def manual_fail(self):
+ # Record as failure if auto-fail
+ if self._result == 1:
+ return
+ self._result = 3
+
+ def error(self):
+ self._result = 6
+
+ def get_msg(self):
+ return self.__result_types[self._result]
+
+ def get_html_msg(self):
+ if self._result == 0:
+ status_html ='<div class="pass">%s</div>' % self.get_msg()
+ elif self._result == 3 or self._result == 2 or self._result == 5:
+ status_html ='<div class="warn">%s</div>' % self.get_msg()
+ else:
+ status_html ='<div class="error">%s</div>' % self.get_msg()
+
+ return status_html
+
+ def get_pass_bool(self, manual_ok = True):
+ if manual_ok:
+ return self._result == 0 or self._result == 4
+ return self._result == 0
+
+ def is_human_required(self):
+ return self._result == 2
+
+ def is_manual(self):
+ return self._result == 3 or self._result == 4
+
+ def is_retry(self):
+ return self._result == 5
+
+ def is_error(self):
+ return self._result == 6
+
+ def is_cancel(self):
+ return self._result == 7
+
class SubTestResult:
- def __init__(self, test_name, msg):
- self._name = test_name
- self._result = 0
- if msg.result == TestResultRequest.RESULT_PASS:
- self._result = 1
- elif msg.result == TestResultRequest.RESULT_HUMAN_REQUIRED:
- self._result = 6
+ ##@param subtest is test/SubTest that we ran
+ def __init__(self, subtest, msg):
+ self._subtest = subtest
+
+ self._result = SubTestResultType(msg.result)
self._text_result = msg.html_result
if msg.text_summary is not None:
@@ -84,7 +175,6 @@
else:
self._summary = ''
- self._msg = msg
self._subresult_note = ''
self._plots = []
@@ -92,22 +182,38 @@
for plt in msg.plots:
self._plots.append(plt)
+ self._retry_suffix = ''
+ self._retry_name = ''
+
self.write_images(TEMP_DIR)
- def set_passfail(self, result):
- self._result = result
-
+
+
+ def retry_test(self, count):
+ self._result.retry()
+ self._retry_suffix = "_retry%d" % count
+ self._retry_name = " Retry %d" % count
+
+ def set_operator_result(self, pass_bool):
+ if pass_bool:
+ self._result.manual_pass()
+ else:
+ self._result.manual_fail()
+
def get_name(self):
- return self._name
+ return self._subtest.get_name()
- def get_passfail(self):
- return self._result
+ def set_name(self, name):
+ self._subtest._name = name
+ def get_pass_bool(self):
+ return self._result.get_pass_bool()
+
def set_note(self, txt):
self._subresult_note = txt
def filename_base(self):
- return self._name.replace(' ', '_').replace('/', '__')
+ return self._subtest.get_name().replace(' ', '_').replace('/', '__') + self._retry_suffix
def filename(self):
return self.filename_base() + '.html'
@@ -128,12 +234,8 @@
return html
- # Takes test title, status, summary, details and images and makes a
- # readable and complete results page.
- # Can add a link back to the test index, or next subtest result
- #
- # TODO: Make failure appear in red text
- #
+ ## Takes test title, status, summary, details and images and makes a
+ ## readable and complete results page.
def make_result_page(self, back_link = False, link_dir = TEMP_DIR, prev = None, next = None):
html = "<html><head><title>Qualification Test Results: %s</title>\
<style type=\"text/css\">\
@@ -144,7 +246,7 @@
strong { font-weight: bold; color: red; }\
em { font-style:normal; font-weight: bold; }\
</style>\
-</head><body>\n" % self._name
+</head><body>\n" % self._subtest.get_name()
html += self.html_header()
@@ -152,7 +254,11 @@
# Parses through text and adds image source to file
html += self.html_image_result(link_dir)
-
+
+ html += '<hr size="3">\n'
+ html += self.html_test_params()
+ html += '<hr size="3">\n'
+
# Add link back to index if applicable
# May want to make page "portable" so whole folder can move
if back_link:
@@ -170,24 +276,41 @@
return html
+ def html_test_params(self):
+ html = '<H4 align=center>Subtest Parameters</H4>\n'
+
+ html += '<table border="1" cellpadding="2" cellspacing="0">\n'
+ html += '<tr><td><b>Parameter</b></td><td><b>Value</b></td></tr>\n'
+
+ if self._subtest._pre_script:
+ html += '<tr><td>Pre-test</td><td>%s</td></tr>\n' % os.path.basename(self._subtest._pre_script)
+ else:
+ html += '<tr><td>Pre-test</td><td>None</td></tr>\n'
+
+ if self._subtest._post_script:
+ html += '<tr><td>Post-test</td><td>%s</td></tr>\n' % os.path.basename(self._subtest._post_script)
+ else:
+ html += '<tr><td>Post-test</td><td>None</td></tr>\n'
+
+ launch_file = self._subtest._test_script
+ (path, launch_pkg) = roslib.packages.get_dir_pkg(launch_file)
+ path_idx = launch_file.find(launch_pkg) + len(launch_pkg) + 1
+
+
+ html += '<tr><td>Launch package</td><td>%s</td></tr>\n' % launch_pkg
+ html += '<tr><td>Launch file...
[truncated message content] |