test_Anchor_0.py

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#!/usr/bin/env python

from time import sleep
import unittest
import time
import rospy
import rostest
from localizer_dwm1001.msg      import Anchor
from localizer_dwm1001.msg      import Tag
import rosunit

# Structure Message Anchor
# string id
# float64  x
# float64  y
# float64  z
# float64  distanceFromTag

class Anchor0TestCase(unittest.TestCase):

    anchorData_ok = False
    anchor0       = Anchor()

    def callback(self, data):
        self.anchorData_ok = True
        self.anchor0       = data

    # Test existance of topic
    def test_if_anchor_0_is_published(self):
        rospy.init_node('test_anchor_0')
        rospy.Subscriber("/dwm1001/anchor0", Anchor, self.callback)
        counter = 0
        # give 5 seconds to check the topic is publishing something
        while not rospy.is_shutdown() and counter < 5 and (not self.anchorData_ok):
            time.sleep(1)
            counter += 1
            rospy.loginfo("looping")

        self.assertTrue(self.anchorData_ok)

    # Test the id of Anchor if is a string
    def test_if_anchor_0_id_is_string(self):
        if  isinstance(self.anchor0.id, str):
            self.assertTrue(True)
        else:
            self.assertTrue(False)


    # Test the x of Anchor if is a float
    def test_if_anchor_0_x_is_float(self):
        if  isinstance(self.anchor0.x, float):
            self.assertTrue(True)
        else:
            self.assertTrue(False)


    # Test the y of Anchor if is a float
    def test_if_anchor_0_y_is_float(self):
        if  isinstance(self.anchor0.y, float):
            self.assertTrue(True)
        else:
            self.assertTrue(False)


    # Test the z of Anchor if is a float
    def test_if_anchor_0_z_is_float(self):
        if  isinstance(self.anchor0.z, float):
            self.assertTrue(True)
        else:
            self.assertTrue(False)


    # Test the z of Anchor if is a float
    def test_if_anchor_0_distanceFromTag_is_float(self):
        if isinstance(self.anchor0.distanceFromTag, float):
            self.assertTrue(True)
        else:
            self.assertTrue(False)





if __name__ == '__main__':
    rosunit.unitrun('localizer_dwm1001', 'test_Anchor_0_Publisher', Anchor0TestCase)