test_python_api.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 rostest
import actionlib
from std_srvs.srv import Trigger, TriggerResponse
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryResult
from simple_script_server import *


class PythonAPITest(unittest.TestCase):
        def __init__(self, *args):
                super(PythonAPITest, self).__init__(*args)
                rospy.init_node('test_python_api_test')
                self.sss=simple_script_server()
                self.as_cb_executed = False
                self.ss_stop_cb_executed = False
                self.ns_global_prefix = "/script_server"

        def test_python_api(self):
                # get parameters
                try:
                        # component
                        if not rospy.has_param('~command'):
                                self.fail('Parameter command does not exist on ROS Parameter Server')
                        command = rospy.get_param('~command')
                except KeyError:
                        self.fail('Parameters not set properly')

                # choose command to test
                if command == "move":
                        component_name = "arm"
                        # init action server (as)
                        ##as_name = "/" + component_name + "_controller/joint_trajectory_action"
                        ##self.as_server = actionlib.SimpleActionServer(as_name, JointTrajectoryAction, execute_cb=self.as_cb)
                        as_name = "/" + component_name + "_controller/follow_joint_trajectory"
                        self.as_server = actionlib.SimpleActionServer(as_name, FollowJointTrajectoryAction, execute_cb=self.as_cb)
                        #execute test (as all components have the same trajectory interface, we only test for arm)
                        self.move_test(component_name,"home") # test trajectories with a single point (home)
                        self.move_test(component_name,"grasp-to-tray") # test trajectories with multiple points (grasp-to-tray)
                        self.move_test(component_name,"wave") # test trajectories out of other points (wave)
                elif command == "stop":
                        # prepare service server (ss)
                        ss_name = "/arm_controller/" + command
                        self.ss_cb_executed = False
                        rospy.Service(ss_name, Trigger, self.ss_cb)
                        # call sss function
                        self.sss.stop("arm")
                        # check result
                        if not self.ss_cb_executed:
                                self.fail('Service Server not called')
                elif command == "init":
                        # prepare service server (ss)
                        ss_name = "/arm_controller/" + command
                        self.ss_cb_executed = False
                        rospy.Service(ss_name, Trigger, self.ss_cb)
                        # call sss function
                        self.sss.init("arm")
                        # check result
                        if not self.ss_cb_executed:
                                self.fail('Service Server not called')
                elif command == "recover":
                        # prepare service server (ss)
                        ss_name = "/arm_controller/" + command
                        self.ss_cb_executed = False
                        rospy.Service(ss_name, Trigger, self.ss_cb)
                        # call sss function
                        self.sss.recover("arm")
                        # check result
                        if not self.ss_cb_executed:
                                self.fail('Service Server not called')
                else:
                        self.fail("Command not known to test script")

        def move_test(self,component_name, parameter_name):
                self.as_cb_executed = False

                # call sss functions
                self.sss.move(component_name,parameter_name)

                # check result
                if not self.as_cb_executed:
                        self.fail('No goal received at action server')

                # get joint_names from parameter server
                param_string = self.ns_global_prefix + "/" + component_name + "/joint_names"
                if not rospy.has_param(param_string):
                        error_msg = "parameter " + param_string +" does not exist on ROS Parameter Server"
                        self.fail(error_msg)
                joint_names = rospy.get_param(param_string)

                # get joint values from parameter server
                if type(parameter_name) is str:
                        param_string = self.ns_global_prefix + "/" + component_name + "/" + parameter_name
                        if not rospy.has_param(param_string):
                                error_msg = "parameter " + param_string + " does not exist on ROS Parameter Server"
                                self.fail(error_msg)
                        param = rospy.get_param(param_string)
                else:
                        param = parameter_name

                # check trajectory parameters
                if not type(param) is list: # check outer list
                                error_msg = "no valid parameter for " + component_name + ": not a list, aborting..."
                                self.fail(error_msg)

                traj = []

                for point in param:
                        #print point,"type1 = ", type(point)
                        if type(point) is str:
                                if not rospy.has_param(self.ns_global_prefix + "/" + component_name + "/" + point):
                                        error_msg = "parameter " + self.ns_global_prefix + "/" + component_name + "/" + point + " does not exist on ROS Parameter Server, aborting..."
                                        self.fail(error_msg)
                                point = rospy.get_param(self.ns_global_prefix + "/" + component_name + "/" + point)
                                point = point[0] # \todo hack because only first point is used, no support for trajectories inside trajectories
                                #print point
                        elif type(point) is list:
                                rospy.logdebug("point is a list")
                        else:
                                error_msg = "no valid parameter for " + component_name + ": not a list of lists or strings, aborting..."
                                self.fail(error_msg)

                        # here: point should be list of floats/ints
                        #print point
                        if not len(point) == len(joint_names): # check dimension
                                error_msg = "no valid parameter for " + component_name + ": dimension should be " + len(joint_names) + " and is " + len(point) + ", aborting..."
                                self.fail(error_msg)

                        for value in point:
                                #print value,"type2 = ", type(value)
                                if not ((type(value) is float) or (type(value) is int)): # check type
                                        #print type(value)
                                        error_msg = "no valid parameter for " + component_name + ": not a list of float or int, aborting..."
                                        self.fail(error_msg)
                        traj.append(point)

                traj_msg = JointTrajectory()
                traj_msg.header.stamp = rospy.Time.now()+rospy.Duration(0.5)
                traj_msg.joint_names = joint_names
                point_nr = 0
                for point in traj:
                        point_msg = JointTrajectoryPoint()
                        point_msg.positions = point
                        point_msg.time_from_start=rospy.Duration(3*point_nr) # this value is set to 3 sec per point. \todo: read from parameter
                        traj_msg.points.append(point_msg)

                #print traj_msg
                #print self.traj

                # check amount of trajectory points
                if not (len(traj_msg.points) == len(self.traj.points)):
                        self.fail('Not the same amount of points in trajectory')

                # check points
                #print traj_msg.points
                #print self.traj.points
                for i in range(len(traj_msg.points)):
                        # check dimension of points
                        #print traj_msg.points[i].positions
                        #print self.traj.points[i].positions
                        if not (len(traj_msg.points[i].positions) == len(self.traj.points[i].positions)):
                                self.fail('Not the same amount of values in point')

                        # check values of points
                        for j in range(len(traj_msg.points[i].positions)):
                                if not (traj_msg.points[i].positions[j] == self.traj.points[i].positions[j]):
                                        self.fail('Not the same values in point')

        def as_cb(self, goal):
                #result = JointTrajectoryResult()
                result = FollowJointTrajectoryResult()
                #self.as_server.set_preempted(result)
                self.as_cb_executed = True
                self.traj = goal.trajectory
                print("action server callback")
                self.as_server.set_succeeded(result)

        def ss_cb(self,req):
                self.ss_cb_executed = True
                res = TriggerResponse()
                res.success = True
                return res

if __name__ == '__main__':
        try:
                rostest.run('rostest', 'test_python_apt_test', PythonAPITest, sys.argv)
        except KeyboardInterrupt as e:
                pass
        print("exiting")