00001 #!/usr/bin/env python 00002 # -*- coding: utf-8 -*- 00003 00004 # Software License Agreement (BSD License) 00005 # 00006 # Copyright (c) 2016, Tokyo Opensource Robotics Kyokai Association (TORK) 00007 # All rights reserved. 00008 # 00009 # Redistribution and use in source and binary forms, with or without 00010 # modification, are permitted provided that the following conditions 00011 # are met: 00012 # 00013 # * Redistributions of source code must retain the above copyright 00014 # notice, this list of conditions and the following disclaimer. 00015 # * Redistributions in binary form must reproduce the above 00016 # copyright notice, this list of conditions and the following 00017 # disclaimer in the documentation and/or other materials provided 00018 # with the distribution. 00019 # * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the 00020 # names of its contributors may be used to endorse or promote products 00021 # derived from this software without specific prior written permission. 00022 # 00023 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 # POSSIBILITY OF SUCH DAMAGE. 00035 00036 PKG = 'hironx_ros_bridge' 00037 import unittest 00038 00039 import sys, subprocess 00040 00041 class TestNoMoveit(unittest.TestCase): 00042 00043 @classmethod 00044 def setUpClass(cls): 00045 True 00046 00047 @classmethod 00048 def tearDownClass(cls): 00049 True 00050 00051 def test_nomoveit(self): 00052 ''' 00053 Test if the certain exception is returned when no ROS master is available. 00054 ''' 00055 try: 00056 p = subprocess.Popen(["rosrun", "hironx_ros_bridge", "hironx.py", sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4]], stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE) 00057 out, err = p.communicate() 00058 print(out) 00059 print(err) 00060 self.assertTrue(p.returncode==0, "[%s] ==> return code is not 0" % (err)) 00061 except Exception as e: 00062 print('Exception caught in test_nomoveit: {}'.format(e)) 00063 self.fail(str(e)) 00064 00065 if __name__ == '__main__': 00066 import rostest 00067 rostest.rosrun(PKG, 'test_no_moveit', TestNoMoveit)