00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2008, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of the Willow Garage nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 00036 # Author: Kevin Watts 00037 00038 import roslib 00039 roslib.load_manifest('qualification') 00040 00041 import rospy 00042 00043 import sys, time, os 00044 00045 from pr2_self_test_msgs.srv import TestResult, TestResultRequest 00046 00047 rospy.init_node('configuration_subtest') 00048 result_proxy = rospy.ServiceProxy('test_result', TestResult) 00049 00050 # Later we can run motor conf and actually check the configuration 00051 serial = rospy.get_param('/qual_item/serial') 00052 name = rospy.get_param('/qual_item/name') 00053 00054 html = '<p>Configured %s as %s.</p>\n' % (serial, name) 00055 00056 00057 r = TestResultRequest() 00058 r.plots = [] 00059 r.text_summary = "Configured %s as %s." % (serial, name) 00060 r.html_result = html 00061 r.result = TestResultRequest.RESULT_PASS 00062 00063 rospy.wait_for_service('test_result') 00064 result_proxy.call(r) 00065 rospy.spin()