move.py

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#!/usr/bin/env python

PKG="cob_script_server"
import roslib; roslib.load_manifest(PKG)

import sys
import unittest

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): #FIXME fails because client is already in DONE state (mode="" and mode="omni" is the same)
#               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 + "_controller/joint_trajectory_action"
                #self.as_server = actionlib.SimpleActionServer(as_name, JointTrajectoryAction, execute_cb=self.traj_cb, auto_start=False)
                as_name = "/" + component_name + "_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 = JointTrajectoryResult()
                result = FollowJointTrajectoryResult()
                self.as_server.set_succeeded(result)
        
        # move cartesian
#       def test_move_cart(self):
#               component_name = "arm" # testing for component arm
#               as_name = "/" + component_name + "_controller/move_cart"
#               self.as_server = actionlib.SimpleActionServer(as_name, MoveCartAction, execute_cb=self.cart_cb, auto_start=False)
#               self.as_server.start()
#               self.cb_executed = False
#               sss.move(component_name,["base_link",[0,0,0],[0,0,0]])
#               if not self.cb_executed:
#                       self.fail('Action Server not called')

#       def cart_cb(self, goal):
#               self.cb_executed = True
#               result = MoveCartResult()
#               self.as_server.set_succeeded(result)

        # move planned
#       def test_move_planned(self):
#               component_name = "arm" # testing for component arm
#               as_name = "/" + component_name + "_controller/move_cart"
#               self.as_server = actionlib.SimpleActionServer(as_name, MoveCartAction, execute_cb=self.planned_cb, auto_start=False)
#               self.as_server.start()
#               self.cb_executed = False
#               sss.move(component_name,["base_link",[0,0,0],[0,0,0]])
#               if not self.cb_executed:
#                       self.fail('Action Server not called')

#       def planned_cb(self, goal):
#               self.cb_executed = True
#               result = MoveCartResult()
#               self.as_server.set_succeeded(result)

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