test code for memory growing problem

pyros_httpbin/CMakeLists.txt

@@ -70,10 +70,10 @@ catkin_pip_package(pyros_httpbin)
 #######
 
 if (CATKIN_ENABLE_TESTING)
-  catkin_add_pytests(tests/test_httpbin.py)
+  # catkin_add_pytests(tests/test_httpbin.py)
   # Removing. somehow rostest cannot run the httpbin node. Rostest is too buggy we should drop it.
   #find_package(rostest REQUIRED)
-  #add_rostest(tests/test_httpbin.test)
+  catkin_add_nosetests(tests/test_httpbin.py)
 endif()
 
 #####
@@ -83,5 +83,8 @@ endif()
 install(
     PROGRAMS
         nodes/httpbin.py
+		nodes/leaktest.py
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

pyros_httpbin/README.md

@@ -10,3 +10,36 @@ In particular we need to find out how to mix and match:
 - library to easily build ros-web client (and zmp-web ?)
 - test for a ros-web client using httpbin
 - gopher software application (for yujinrobot)
+
+---
+## test
+
+mkdir build
+
+cd build & cmake ../ & make & source devel/setup.bash & make test
+
+or
+
+py.test ../tests/test_httpbin.py -vv
+
+
+## test for memory leak
+
+source devel/setup.bash & cd ../scripts & ./leaktest.sh
+
+or
+
+roslaunch pyros_httpbin leaktest.launch --screen
+
+## Troubleshooting
+
+easy_install netaddr, when occur no module netaddr
+
+git clone https://github.com/pyros-dev/pyros-setup.git & cd pyros-setup & python setup.py install, when occur no module pyros_setup
+
+cd pyros_schemas-examples/build & source devel/setup.bash, when occur path error
+
+## Docker
+
+docker run -it --rm --name yujin-d3-devel-memory_leak_test --network=host zaxrok/yujin-d3:devel-memory_leak_test bash
+

pyros_httpbin/launch/leaktest.launch

@@ -0,0 +1,4 @@
+<launch>
+	<node name="memory_leak_test" pkg="pyros_httpbin" type="leaktest.py">
+	</node>
+</launch>

pyros_httpbin/nodes/fixed_leaktest.py

@@ -0,0 +1,161 @@
+#!/usr/bin/env python
+#
+# License: Yujin
+#
+##############################################################################
+# Documentation
+##############################################################################
+"""
+Simple utility to start a gopher scheduler ROS node from the command line.
+"""
+##############################################################################
+# Imports
+##############################################################################
+import os
+import psutil
+import sys
+import argparse
+import json
+import requests
+sys.path.insert(0, '/home/bcc/Tutorial/playbooks/gopher_docker/gopher_webclients/install/lib/python2.7/dist-packages')
+try:
+    import rocon_console.console as console
+    import pyros_schemas
+    import pyros_httpbin
+
+    import rospy
+    from pyros_httpbin.srv import HttpbinPostJson, HttpbinPostJsonRequest, HttpbinPostJsonResponse
+    from pyros_httpbin.msg import HttpRequestHeaders, HttpbinPostArgs, HttpbinPostBody, HttpbinPostBody2
+    import pyros_msgs.opt_as_array  # This will duck punch the standard message type initialization code.
+
+except ImportError:
+    # Because we need to access Ros message types here (from ROS env or from virtualenv, or from somewhere else)
+    import pyros_setup
+    # We rely on default configuration in the environment to point us ot the proper distro and workspace
+    pyros_setup.configurable_import().configure().activate()
+
+    import rocon_console.console as console
+    import pyros_schemas
+    import pyros_httpbin
+
+    import rospy
+    from pyros_httpbin.srv import HttpbinPostJson, HttpbinPostJsonRequest, HttpbinPostJsonResponse
+    from pyros_httpbin.msg import HttpRequestHeaders, HttpbinPostArgs, HttpbinPostBody, HttpbinPostBody2
+    import pyros_msgs.opt_as_array  # This will duck punch the standard message type initialization code.
+
+
+# patching messages types with optional fields
+pyros_msgs.opt_as_array.duck_punch(HttpRequestHeaders, [
+    'User_Agent',
+    'Accept',
+    'Accept_Encoding',
+    'Accept_Language',
+    'Host',
+    'Referer',
+    'Upgrade_Insecure_Requests',
+])
+
+pyros_msgs.opt_as_array.duck_punch(HttpbinPostArgs, ['argopt'])
+pyros_msgs.opt_as_array.duck_punch(HttpbinPostJson._request_class, ['headers'])
+pyros_msgs.opt_as_array.duck_punch(HttpbinPostArgs, ['argopt'])
+pyros_msgs.opt_as_array.duck_punch(HttpbinPostBody, ['testoptitem'])
+pyros_msgs.opt_as_array.duck_punch(HttpbinPostBody2, ['subtestoptstring', 'subtestoptint', 'subtestoptfloat'])
+##############################################################################
+# Helpers
+##############################################################################
+
+class StatusCodeException(Exception):
+    pass
+
+class TestPyrosSchemas(object):
+
+    def __init__(self):
+        rospy.Service('/test/pyros_schemas', HttpbinPostJson, self.test_pyros_schemas2)
+        rospy.wait_for_service('/test/pyros_schemas', timeout=10)
+        self.test_service_proxy = rospy.ServiceProxy('/test/pyros_schemas', HttpbinPostJson)
+
+    @pyros_schemas.with_service_schemas(HttpbinPostJson)
+    def test_pyros_schemas2(self, data, data_dict, errors):
+        print (" => {0}".format(data_dict))  # to help with debugging
+        h = data_dict.get('headers', {})
+        h.update({"Content-type": "application/json"})
+        p = data_dict.get('params')
+        d = data_dict.get('json')
+        response = requests.post('http://httpbin.org/post', headers=h, params=p, data=json.dumps(d))
+
+        if response.status_code == requests.status_codes.codes.OK:  # TODO : easy way to check all "OK" codes
+            print (" <= {0}".format(response.json()))
+            return response.json()
+        else:
+            raise StatusCodeException(response.status_code)
+
+    def test_pyros_schemas(self, req):
+        resp = HttpbinPostJsonResponse()
+        return resp
+
+    def spin(self):
+        count = 0
+        pid = os.getpid()
+        process = psutil.Process(pid)
+        while not rospy.core.is_shutdown():
+            ros_data = pyros_httpbin.msg.HttpbinPostBody(
+                testitem=pyros_httpbin.msg.HttpbinPostBody2(
+                    subteststring='teststr',
+                    # subtestoptstring='', optional, lets not care about it
+                    subteststringarray=['str1', 'str2', 'str3'],
+                    subtestint=42,
+                    # subtestoptint=21, #optional, lets not care about it
+                    subtestintarray=[4, 2, 1],
+                    subtestfloat=42.,
+                    # subtestoptfloat=21., #optional, lets not care about it
+                    subtestfloatarray=[4., 2., 1.],
+                ),
+                # testoptitem optional lets not care about it
+                testitemarray=[
+                    pyros_httpbin.msg.HttpbinPostBody2(
+                        subteststring='teststr1',
+                        # subtestoptstring='', optional, lets not care about it
+                        subteststringarray=['str1', 'str2', 'str3'],
+                        subtestint=42,
+                        # subtestoptint=21, #optional, lets not care about it
+                        subtestintarray=[4, 2, 1],
+                        subtestfloat=42.,
+                        # subtestoptfloat=21., #optional, lets not care about it
+                        subtestfloatarray=[4., 2., 1.],
+                    ),
+                    pyros_httpbin.msg.HttpbinPostBody2(
+                        subteststring='teststr2',
+                        # subtestoptstring='', optional, lets not care about it
+                        subteststringarray=['str1', 'str2', 'str3'],
+                        subtestint=42,
+                        # subtestoptint=21, #optional, lets not care about it
+                        subtestintarray=[4, 2, 1],
+                        subtestfloat=42.,
+                        # subtestoptfloat=21., #optional, lets not care about it
+                        subtestfloatarray=[4., 2., 1.],
+                    ),
+                ]
+            )
+            req = pyros_httpbin.srv.HttpbinPostJson._request_class(
+                params=pyros_httpbin.msg.HttpbinPostArgs(
+                    arg='testarg',
+                    # argopt='', # optional, let not care about it
+                    arglist=['arg1', 'arg2']
+                    # httpbin removes the list if only one arg here, but we do expect list in response.
+                    # TODO : fix this...
+                ),
+                # headers=pyros_httpbin.msg.HttpRequestHeaders(), # optional, let not care about it
+                json=ros_data
+            )
+            resp = self.test_service_proxy(req)
+            rospy.loginfo("COUNT: {0}".format(count))
+            rospy.loginfo("RESP: {0}".format(resp))
+            count += 1
+            mem = process.get_memory_info()[0]
+            rospy.loginfo("Memory usage(%s):%d" % (pid, mem))
+            rospy.sleep(0.01)
+
+if __name__ == '__main__':
+    rospy.init_node('test_pyros_schemas', log_level=rospy.INFO)
+    _node = TestPyrosSchemas()
+    _node.spin()