test_say.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 cob_sound.msg import SayAction, SayResult
from simple_script_server import *
sss = simple_script_server()
 
class SayTest(unittest.TestCase):
        def __init__(self, *args):
                super(SayTest, self).__init__(*args)
                rospy.init_node('test_say_test')
                self.cb_executed = False
 
        def test_say(self):
                as_name = "/sound/say"
                self.as_server = actionlib.SimpleActionServer(as_name, SayAction, execute_cb=self.say_cb, auto_start=False)
                self.as_server.start()
                self.cb_executed = False
                handle = sss.say("sound", ["hello"])
                if not self.cb_executed:
                        self.fail('Service Server not called. script server error_code: ' + str(handle.get_error_code()))
 
        def say_cb(self, goal):
                self.cb_executed = True
                result = SayResult()
                self.as_server.set_succeeded(result)
 
if __name__ == '__main__':
        try:
                rostest.run('rostest', 'test_say_test', SayTest, sys.argv)
        except KeyboardInterrupt as e:
                pass
        print("exiting")