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Fixed data collection server test error #1728

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merged 1 commit into from
May 24, 2022
Merged

Fixed data collection server test error #1728

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16 changes: 13 additions & 3 deletions jsk_data/tests/test_data_collection_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,16 @@ class TestDataCollectionServer(unittest.TestCase):
def setUp(self):
rospy.init_node(NAME)

def _wait_until_data_saved(self, target_dir):
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if len(os.listdir(target_dir)) > 0:
break
try:
rate.sleep()
except rospy.exceptions.ROSTimeMovedBackwardsException:
continue

def check(self, save_dir, target='string'):
sub_dirs = os.listdir(save_dir)
self.assertGreater(len(sub_dirs), 0)
Expand All @@ -56,7 +66,6 @@ def check(self, save_dir, target='string'):
def test_request(self):
rospy.wait_for_message('/sample_topic', String)
rospy.wait_for_service('/data_collection_server_request/save_request')
rospy.sleep(2)
save_request = rospy.ServiceProxy(
'/data_collection_server_request/save_request', Trigger
)
Expand All @@ -66,6 +75,7 @@ def test_request(self):
save_dir = rospy.get_param('/save_dir_request')
save_dir = save_dir.rstrip()
save_dir = osp.expanduser(save_dir)
self._wait_until_data_saved(save_dir)
self.check(save_dir, target='string')

def test_timer(self):
Expand All @@ -75,21 +85,21 @@ def test_timer(self):
'/data_collection_server_timer/start_request', Trigger
)
ret = start_request()
rospy.sleep(2)
self.assertTrue(ret.success)

save_dir = rospy.get_param('/save_dir_timer')
save_dir = save_dir.rstrip()
save_dir = osp.expanduser(save_dir)
self._wait_until_data_saved(save_dir)
self.check(save_dir, target='string')

def test_all(self):
rospy.wait_for_message('/static_image_publisher/output', Image)
rospy.sleep(2)

save_dir = rospy.get_param('/save_dir_all')
save_dir = save_dir.rstrip()
save_dir = osp.expanduser(save_dir)
self._wait_until_data_saved(save_dir)
self.check(save_dir, target='image')


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