recharge_request_test.py

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#!/usr/bin/env python
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# Author Melonee Wise, John Hsu



## Gazebo collision validation 
PKG = 'pr2_plugs_gazebo_demo'
NAME = 'plugin_test'

import roslib
roslib.load_manifest(PKG)

import unittest, sys, os, math
import time
import rospy, rostest
from smach import *

from nav_msgs.msg import *
from std_msgs.msg import String

# call service from recharge_action_web_adapter.py
from pr2_plugs_msgs.msg import *
from pr2_plugs_msgs.srv import *

TEST_DURATION = 60000.0

# Notes: took about 289 sim time and 33min real time to get to the point
#        where the plug is in the outlet
#todo, orientation not checked
TARGET_X  =  -0.143443210214
TARGET_Y  =  -0.790285012056 + 0.03 #test before prongs are inserted
TARGET_Z  =  0.280302987184
TARGET_RX =  -0.00842100328719
TARGET_RY =  -0.0130500419972
TARGET_RZ =  0.999875978203
TARGET_RW =  0.00258114328752

TARGET_TOL =  0.01

MIN_HITS = 200.0
MIN_RUNS = 20.0

#20504 0 30.2362773529 25.8055882619 0.0454677807295 2.84116534215 0.0842119476332 2.06022663361e-06 2.84241308637 0.1


class TestPlug(unittest.TestCase):
    def __init__(self, *args):
        super(TestPlug, self).__init__(*args)
        self.success = False
        self.fail = False
        self.hits = 0
        self.runs = 0
        self.print_header = False
        
    def positionInput(self, p3d):
        if not self.print_header: 
          self.print_header = True
          #print "runs   hits   x   y   z    dx    dy    dz    dr   r_tol"

        #Note: this old code to be within a certain distance of a point
        #Will remove soon.
        self.runs = self.runs + 1
        #if (pos.frame == 1):
        dx = p3d.pose.pose.position.x - TARGET_X
        dy = p3d.pose.pose.position.y - TARGET_Y
        dz = p3d.pose.pose.position.z - TARGET_Z
        d = math.sqrt((dx * dx) + (dy * dy)) #+ (dz * dz))

        print self.runs, self.hits, \
              p3d.pose.pose.position.x , p3d.pose.pose.position.y , p3d.pose.pose.position.z, \
              dx , dy , dz , d

        if (math.fabs(d) < TARGET_TOL):
            self.hits = self.hits + 1
            if (self.runs > 10 and self.runs < 50):
                print "Got to goal too quickly! (",self.runs,")"
                self.success = False
                self.fail = True

            if (self.hits > MIN_HITS):
                if (self.runs > MIN_RUNS):
                    self.success = True

    def stringOutput(self, str):
        print str.data
        
    
    def test_plug(self):
        rospy.init_node("init_plug_and_check_plug_pose")
        rospy.loginfo("plug test: waiting for recharge_request")
        rospy.wait_for_service('recharge_request')
        try:
          recharge_service = rospy.ServiceProxy('recharge_request',RechargeRequest)
          rr = RechargeCommand(RechargeCommand.PLUG_IN,'local')
          recharge_service(rr)
        except rospy.ServiceException, e:
          print "Calling recharge_requst service failes: %s"%e

        rospy.loginfo("plug test: begin listening for plug pose for the unit test")
        rospy.Subscriber("/test_output", String, self.stringOutput)
        rospy.Subscriber("/plug/plug_pose_ground_truth", Odometry, self.positionInput)

        # test for final plug pose
        start = time.time()
        timeout_t = start + TEST_DURATION
        while not rospy.is_shutdown() and not self.success and not self.fail and time.time() < timeout_t:
            time.sleep(0.1)
        rospy.core.logerr("THIS IS THE TEST TIME:" + str(time.time() - start))
        self.assert_(self.success)
        
    


if __name__ == '__main__':
    rostest.run(PKG, sys.argv[0], TestPlug, sys.argv) #, text_mode=True)