test_move.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import sys
import unittest

import rospy
import actionlib
from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryResult
from move_base_msgs.msg import MoveBaseAction, MoveBaseResult
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 TestMove(unittest.TestCase):
        def __init__(self, *args):
                super(TestMove, self).__init__(*args)
                rospy.init_node('test_move')
                self.cb_executed = False

        # test move base commands
        def test_move_base(self):
                self.move_base()

        def test_move_base_omni(self):
                self.move_base(mode="omni")

        def test_move_base_diff(self):
                self.move_base(mode="diff")

        def test_move_base_linear(self):
                self.move_base(mode="linear")

        def move_base(self,mode=None):
                if mode == None or mode == "" or mode == "omni":
                        as_name = "/move_base"
                else:
                        as_name = "/move_base_" + mode
                self.as_server = actionlib.SimpleActionServer(as_name, MoveBaseAction, execute_cb=self.base_cb, auto_start=False)
                self.as_server.start()
                self.cb_executed = False
                handle = sss.move("base",[0,0,0],mode=mode)
                if not self.cb_executed:
                        self.fail('Action Server not called. script server error_code: ' + str(handle.get_error_code()))

        def base_cb(self, goal):
                self.cb_executed = True
                result = MoveBaseResult()
                self.as_server.set_succeeded(result)

        # test move trajectory commands
        def test_move_traj(self):
                component_name = "arm" # testing for component arm
                as_name = "/" + component_name + "/joint_trajectory_controller/follow_joint_trajectory"
                self.as_server = actionlib.SimpleActionServer(as_name, FollowJointTrajectoryAction, execute_cb=self.traj_cb, auto_start=False)
                self.as_server.start()
                self.cb_executed = False
                handle = sss.move(component_name,[[0,0,0,0,0,0,0]])
                if not self.cb_executed:
                        self.fail('Action Server not called. script server error_code: ' + str(handle.get_error_code()))

        def traj_cb(self, goal):
                self.cb_executed = True
                result = FollowJointTrajectoryResult()
                self.as_server.set_succeeded(result)

if __name__ == '__main__':
        import rostest
        rostest.rosrun('cob_script_server', 'move', TestMove)