travis_test_motors1.py

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#!/usr/bin/env python
#encoding: utf8
import unittest, rostest
import rosnode, rospy
import time
from raspicat.msg import MotorFreqs
from geometry_msgs.msg import Twist

class MotorTest(unittest.TestCase):
    def file_check(self,dev,value,message):
        with open("/dev/" + dev,"r") as f:
            self.assertEqual(f.readline(),str(value)+"\n",message)

    def test_node_exist(self):
        nodes = rosnode.get_node_names()
        self.assertIn('/motors', nodes, "node does not exist")

    def test_put_freq(self):
        pub = rospy.Publisher('/motor_raw', MotorFreqs)
        m = MotorFreqs()
        m.left_hz = 123 
        m.right_hz = 456 
        for i in range(10):
            pub.publish(m)
            time.sleep(0.1)

        self.file_check("rtmotor_raw_l0",m.left_hz,"wrong left value from motor_raw")
        self.file_check("rtmotor_raw_r0",m.right_hz,"wrong right value from motor_raw")

    def test_put_cmd_vel(self):
        pub = rospy.Publisher('/cmd_vel', Twist)
        m = Twist()
        m.linear.x = 0.4775
        m.angular.z = 1.7115
        for i in range(10):
            pub.publish(m)
            time.sleep(0.1)

        self.file_check("rtmotor_raw_l0",200,"wrong left value from cmd_vel")
        self.file_check("rtmotor_raw_r0",600,"wrong right value from cmd_vel")

        time.sleep(1.1)
        self.file_check("rtmotor_raw_r0",0,"don't stop after 1[s]")
        self.file_check("rtmotor_raw_l0",0,"don't stop after 1[s]")

if __name__ == '__main__':
    time.sleep(3)
    rospy.init_node('travis_test_motors')
    rostest.rosrun('raspicat','travis_test_motors', MotorTest)