sound_test.py

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#!/usr/bin/env python
import roslib
roslib.load_manifest('cob_hardware_test')
import time
import sys
import unittest
import rospy
import rostest

from cob_hardware_test.srv import *
from std_msgs.msg import String
from simple_script_server import *
from pr2_controllers_msgs.msg import *


def dialog_client(dialog_type, message):
        #dialog type: 0=confirm 1=question
        rospy.wait_for_service('dialog')
        try:
                dialog = rospy.ServiceProxy('dialog', Dialog)
                resp1 = dialog(dialog_type, message)
                return resp1.answer
        except rospy.ServiceException, e:
                print "Service call failed: %s" % e

class HardwareTest(unittest.TestCase):
        def __init__(self, *args):

                super(HardwareTest, self).__init__(*args)
                rospy.init_node('test_hardware_test')
                torso_joint_states = []
                self.message_received = False
                self.sss = simple_script_server()

        def test_play(self):
                dialog_client(0, 'Listen up for the sound' )
                rospy.set_param("script_server/sound/language","de")
                handle = self.sss.play("grasp_tutorial_01")
                self.assertEqual(handle.get_state(), 3)
                self.assertTrue(dialog_client(1, 'Did you hear some audio file?'))
                
        def test_say(self):
                dialog_client(0, 'Listen up for the sound' )
                handle = self.sss.say(["Hello"])
                self.assertEqual(handle.get_state(), 3)
                if handle.get_error_code() != 0:
                        error_msg = 'Could say something'
                        self.fail(error_msg + "; errorCode: " + str(handle.get_error_code()))
                self.assertTrue(dialog_client(1, 'Did you hear <<Hello>>?'))

if __name__ == '__main__':

        # Copied from hztest: A dirty hack to work around an apparent race condition at startup
        # that causes some hztests to fail. Most evident in the tests of
        # rosstage.
        time.sleep(0.75)

        try:
                rostest.run('rostest', 'test_hardware_test', HardwareTest, sys.argv)
        except KeyboardInterrupt, e:
                pass
        print "exiting"