test_rwt_nav.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
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# Copyright (c) 2021, Kei Okada
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import argparse
import sys
import time
import rospy
import rostest
import unittest
 
from selenium import webdriver
from selenium.webdriver.common.keys import Keys
from selenium.webdriver.common.by import By
from selenium.webdriver.support import expected_conditions as EC
from selenium.webdriver.support.ui import Select
 
import pkg_resources
selenium_version = pkg_resources.get_distribution("selenium").version
# Check if selenium version is greater than 4.3.0
if pkg_resources.parse_version(selenium_version) >= pkg_resources.parse_version("4.3.0"):
    from selenium.webdriver.common.by import By
 
from move_base_msgs.msg import MoveBaseActionGoal
 
CLASSNAME = 'rwt_nav'
 
class TestRwtNav(unittest.TestCase):
 
    def goal_cb(self, msg):
        rospy.logwarn("{} received".format(msg))
        self.goal_msg = msg
        self.goal_msg_received = self.goal_msg_received + 1
 
    def __init__(self, *args):
        super(TestRwtNav, self).__init__(*args)
        rospy.init_node('test_rwt_nav')
 
    def setUp(self):
        parser = argparse.ArgumentParser()
        parser.add_argument('--no-headless', action='store_true',
                            help='start webdriver with headless mode')
        args, unknown = parser.parse_known_args()
 
        self.goal_msg = None
        self.goal_msg_received = 0
 
        rospy.Subscriber('/move_base/goal', MoveBaseActionGoal, self.goal_cb)
        self.url_base = rospy.get_param("url_roswww_testserver")
 
        opts = webdriver.firefox.options.Options()
        if not args.no_headless:
            opts.add_argument('-headless')
        self.browser = webdriver.Firefox(options=opts)
 
        self.wait = webdriver.support.ui.WebDriverWait(self.browser, 10)
        # maximize screen
        if pkg_resources.parse_version(selenium_version) >= pkg_resources.parse_version("4.3.0"):
            self.browser.fullscreen_window()
        else:
            self.browser.find_element_by_tag_name("html").send_keys(Keys.F11)
 
    def tearDown(self):
        try:
            self.browser.close()
            self.browser.quit()
        except:
            pass
 
    def test_rwt_nav(self):
        url = '%s/rwt_nav' % (self.url_base)
        rospy.logwarn("Accessing to %s" % url)
 
        self.browser.get(url)
 
        # check settings
        self.wait.until(EC.presence_of_element_located((By.ID, "button-ros-master-settings")))
        settings = self.find_element_by_id("button-ros-master-settings")
        self.assertIsNotNone(settings, "Object id=button-ros-master-settings not found")
        settings.click()
 
        self.wait.until(EC.presence_of_element_located((By.ID, "input-ros-master-uri")))
        uri = self.find_element_by_id("input-ros-master-uri")
        self.assertIsNotNone(uri, "Object id=input-ros-master-uri not found")
        uri.clear();
        uri.send_keys('ws://localhost:9090/')
 
        self.wait.until(EC.presence_of_element_located((By.ID, "button-ros-master-connect")))
        connect = self.find_element_by_id("button-ros-master-connect")
        self.assertIsNotNone(connect, "Object id=button-ros-master-connect")
        connect.click()
 
        # check image topic
        self.wait.until(EC.presence_of_element_located((By.ID, "image-topic-select")))
        image_topic = self.find_element_by_id("image-topic-select")
        self.assertIsNotNone(image_topic, "Object id=topic-select not found")
        loop = 0
        while image_topic.text == u'' and loop < 10:
            loop = loop + 1
            time.sleep(1)
            image_topic = self.find_element_by_id("image-topic-select")
            self.assertIsNotNone(image_topic, "Object id=image-topic-select not found")
        self.assertEqual(image_topic.text, u'/image_publisher/image_raw')
 
        # wait for /map topic
        self.wait.until(EC.presence_of_element_located((By.ID, "map")))
        map = self.find_element_by_id("map")
        self.assertIsNotNone(map, "Object id=map not found")
        map.click()
 
        loop = 0
        while loop < 20 and self.goal_msg == None:
            loop = loop + 1
            time.sleep(1)
            map.click()
 
        self.assertNotEqual(self.goal_msg, None)
 
    def find_element_by_id(self, name):
        if pkg_resources.parse_version(selenium_version) >= pkg_resources.parse_version("4.3.0"):
            return self.browser.find_element(By.ID, name)
        else:
            return self.browser.find_element_by_id(name)
 
 
if __name__ == '__main__':
    try:
        rostest.run('rwt_nav', CLASSNAME, TestRwtNav, sys.argv)
    except KeyboardInterrupt:
        pass
    print("{} exiting".format(CLASSNAME))