trigger.py

Go to the documentation of this file.

#!/usr/bin/env python

PKG="cob_script_server"
import roslib; roslib.load_manifest(PKG)

import sys
import unittest

from simple_script_server import *
sss = simple_script_server()

## This test checks the correct call to commands from the cob_script_server. This does not cover the execution of the commands (this shoud be checked in the package where the calls refer to).
class TestTrigger(unittest.TestCase):
        def __init__(self, *args):
                super(TestTrigger, self).__init__(*args)
                rospy.init_node('test_trigger')
                self.cb_executed = False
                self.component_name = "arm"  # testing for component arm

        def test_init(self):
                rospy.Service("/" + self.component_name + "_controller/init", Trigger, self.cb)
                self.cb_executed = False
                handle = sss.init(self.component_name)
                if not self.cb_executed:
                        self.fail('Service Server not called. script server error_code: ' + str(handle.get_error_code()))

        def test_stop(self):
                rospy.Service("/" + self.component_name + "_controller/stop", Trigger, self.cb)
                self.cb_executed = False
                handle = sss.stop(self.component_name)
                if not self.cb_executed:
                        self.fail('Service Server not called. script server error_code: ' + str(handle.get_error_code()))

        def test_recover(self):
                rospy.Service("/" + self.component_name + "_controller/recover", Trigger, self.cb)
                self.cb_executed = False
                handle = sss.recover(self.component_name)
                if not self.cb_executed:
                        self.fail('Service Server not called. script server error_code: ' + str(handle.get_error_code()))

        def cb(self,req):
                self.cb_executed = True
                res = TriggerResponse()
                res.success.data = True
                return res

if __name__ == '__main__':
        import rostest
        rostest.rosrun(PKG, 'trigger', TestTrigger)