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00038 import unittest
00039
00040 import rostest
00041
00042 from nextage_ros_bridge import nextage_client
00043
00044 _GOINITIAL_TIME_MIDSPEED = 3
00045 _PKG = 'nextage_ros_bridge'
00046
00047
00048 class TestNxoAirhand(unittest.TestCase):
00049 '''
00050 Test NextageClient with rostest. This does NOT test hardware (i.e. if DIO
00051 is connected and functioning); instead, this only verifies if the
00052 software works as to the given hardware spec.
00053
00054 For tests involving hardware, follow
00055 https://github.com/start-jsk/rtmros_hironx/issues/272.
00056 '''
00057
00058 @classmethod
00059 def setUpClass(cls):
00060 cls._robot = nextage_client.NextageClient()
00061 cls._robot.init()
00062 cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00063
00064
00065 cls._robot_04 = nextage_client.NextageClient()
00066 cls._robot_04.set_hand_version(version=cls._robot_04.HAND_VER_0_4_2)
00067 cls._robot_04.init()
00068 cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)
00069
00070 @classmethod
00071 def tearDownClass(cls):
00072 cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00073 cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)
00074
00075 def test_airhand_l_release(self):
00076 result = self._robot._hands.airhand_l_release()
00077 result = self._robot_04.airhand_l_release() and result
00078 self.assertTrue(result)
00079
00080 def test_airhand_r_release(self):
00081 result = self._robot._hands.airhand_r_release()
00082 result = self._robot_04.airhand_r_release() and result
00083 self.assertTrue(result)
00084
00085 def test_airhand_l_drawin(self):
00086 result = self._robot._hands.airhand_l_drawin()
00087 result = self._robot_04.airhand_l_drawin() and result
00088 self.assertTrue(result)
00089
00090 def test_airhand_r_drawin(self):
00091 result = self._robot._hands.airhand_r_drawin()
00092 result = self._robot_04.airhand_r_drawin() and result
00093 self.assertTrue(result)
00094
00095 def test_airhand_l_keep(self):
00096 result = self._robot._hands.airhand_l_keep()
00097 result = self._robot_04.airhand_l_keep() and result
00098 self.assertTrue(result)
00099
00100 def test_airhand_r_keep(self):
00101 result = self._robot._hands.airhand_r_keep()
00102 result = self._robot_04.airhand_r_keep() and result
00103 self.assertTrue(result)
00104
00105 if __name__ == '__main__':
00106 rostest.rosrun(_PKG, 'test_nxo_airhand', TestNxoAirhand)