plus_local.py
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00001 #!/usr/bin/env python
00002 
00003 # Copyright (c) 2009, Willow Garage, Inc.
00004 # All rights reserved.
00005 # 
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 # 
00009 #     * Redistributions of source code must retain the above copyright
00010 #       notice, this list of conditions and the following disclaimer.
00011 #     * Redistributions in binary form must reproduce the above copyright
00012 #       notice, this list of conditions and the following disclaimer in the
00013 #       documentation and/or other materials provided with the distribution.
00014 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00015 #       contributors may be used to endorse or promote products derived from
00016 #       this software without specific prior written permission.
00017 # 
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028 # POSSIBILITY OF SUCH DAMAGE.
00029 
00030 
00031 import roslib; roslib.load_manifest('test_nodelet')
00032 import rospy
00033 from std_msgs.msg import Float64
00034 import unittest
00035 import rostest
00036 import random
00037 
00038 class PlusTester:
00039     def __init__(self, topic_in, topic_out, delta):
00040         self.pub = rospy.Publisher(topic_in, Float64)
00041         self.sub = rospy.Subscriber(topic_out, Float64, self.callback)
00042         self.expected_delta = delta
00043         self.send_value = random.random()
00044         self.recieved = False
00045         self.result = False
00046         self.delta = delta
00047 
00048     def run(self, cycles = 10):
00049         for i in range(1, cycles):
00050             self.pub.publish(Float64(self.send_value))
00051             rospy.loginfo("Sent %f"%self.send_value);
00052             if self.recieved == True:
00053                 break
00054             rospy.sleep(1.0)
00055         return self.result 
00056 
00057     def callback(self, data):
00058         rospy.loginfo(rospy.get_name()+" I heard %s which was a change of %f",data.data, data.data-self.send_value)
00059         if data.data ==  self.send_value + self.delta:
00060             self.result = True
00061         self.recieved = True
00062 
00063 class TestPlus(unittest.TestCase):
00064     def test_param(self):
00065         pb = PlusTester("Plus/in", "Plus/out", 2.1)
00066         self.assertTrue(pb.run())
00067 
00068     def test_default_param(self):
00069         pb = PlusTester("Plus2/in", "Plus2/out", 10.0)
00070         self.assertTrue(pb.run())
00071 
00072     def test_standalone(self):
00073         pb = PlusTester("Plus2/out", "Plus3/out", 2.5)
00074         self.assertTrue(pb.run())
00075 
00076     def test_remap(self):
00077         pb = PlusTester("plus_remap/in", "remapped_output", 2.1)
00078         self.assertTrue(pb.run())
00079 
00080     def test_chain(self):
00081         pb = PlusTester("Plus2/in", "Plus3/out", 12.5)
00082         self.assertTrue(pb.run())
00083 
00084 if __name__ == '__main__':
00085     rospy.init_node('plus_local')
00086     rostest.unitrun('test_nodelet', 'test_plus', TestPlus)
00087 


test_nodelet
Author(s): Tully Foote
autogenerated on Wed Aug 26 2015 14:56:52