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00034 import roslib; roslib.load_manifest('pr2_calibration_propagation')
00035
00036 import sys
00037 import unittest
00038
00039 import pr2_calibration_propagation.update_joint as update_joint
00040
00041 class TestUpdateJoint(unittest.TestCase):
00042 def test_easy1(self):
00043 str_in = '''<joint name="joint1"><calibration rising="123"/></joint>'''
00044 cl = update_joint.update_joint(str_in, 'joint1', ref_shift=1)
00045 self.assertEqual(len(cl), 1)
00046 self.assertEqual(cl[0][0], (42, 45))
00047 self.assertAlmostEqual(float(cl[0][1]), 124, 5)
00048
00049 class TestUpdateTransmission(unittest.TestCase):
00050 def test_easy1(self):
00051 str_in = '''<transmission name="trans1"><mechanicalReduction>2</mechanicalReduction></transmission>'''
00052 cl = update_joint.update_transmission(str_in, 'trans1', 3)
00053 self.assertEqual(len(cl), 1)
00054 self.assertEqual(cl[0][0], (49, 50))
00055 self.assertAlmostEqual(float(cl[0][1]), 6, 5)
00056
00057 def test_easy2(self):
00058 str_in = '''<transmission name="trans2"></transmission><transmission name="trans1"><mechanicalReduction>2</mechanicalReduction></transmission>'''
00059 cl = update_joint.update_transmission(str_in, 'trans1', 3)
00060 self.assertEqual(len(cl), 1)
00061 self.assertEqual(cl[0][0], (92, 93))
00062 self.assertAlmostEqual(float(cl[0][1]), 6, 5)
00063
00064 class TestAttr(unittest.TestCase):
00065 def test_easy1(self):
00066 str_in = '''a="123" b="456"'''
00067 span = update_joint.find_attr_span(str_in, 'a')
00068 self.assertEqual(span, (3,6))
00069
00070 def test_easy2(self):
00071 str_in = '''a = "123" b="456"'''
00072 span = update_joint.find_attr_span(str_in, 'a')
00073 self.assertEqual(span, (5,8))
00074
00075 def test_easy3(self):
00076 str_in = '''a="123" b ="456"'''
00077 span = update_joint.find_attr_span(str_in, 'b')
00078 self.assertEqual(span, (12,15))
00079
00080 def test_easy4(self):
00081 str_in = '''a="123" b= "456"'''
00082 span = update_joint.find_attr_span(str_in, 'b')
00083 self.assertEqual(span, (12,15))
00084
00085 def test_not_found(self):
00086 str_in = '''a="123" b="456"'''
00087 span = update_joint.find_attr_span(str_in, 'c')
00088 self.assertEqual(span, None)
00089
00090 class TestSplitElem(unittest.TestCase):
00091 def test_easy1(self):
00092 str_in = '''<tag1/><tag2/><target name="blah"></target>'''
00093 span = update_joint.find_split_elem_span(str_in, 'target', 'blah')
00094 self.assertEqual(span, (14,43))
00095
00096 def test_duplicate_elem(self):
00097 str_in = '''<tag1/><tag2/><target name="blah2"></target><target name="blah"></target>'''
00098 span = update_joint.find_split_elem_span(str_in, 'target', 'blah')
00099 self.assertEqual(span, (44,73))
00100
00101 class TestAtomicElem(unittest.TestCase):
00102 def test_easy1(self):
00103 str_in = '''<tag1/><target/><tag2></tag2>'''
00104 span = update_joint.find_atomic_elem_span(str_in, 'target')
00105 self.assertEqual(span, (7,16))
00106
00107 def test_boundary(self):
00108 str_in = '''<target/>'''
00109 span = update_joint.find_atomic_elem_span(str_in, 'target')
00110 self.assertEqual(span, (0,9))
00111
00112 def test_not_found(self):
00113 str_in = '''<target/>'''
00114 span = update_joint.find_atomic_elem_span(str_in, 'target2')
00115 self.assertEqual(span, None)
00116
00117 class TestSplitInternals(unittest.TestCase):
00118 def test_easy1(self):
00119 str_in = '''<tag1>123</tag1>'''
00120 span = update_joint.find_split_internals(str_in)
00121 self.assertEqual(span, (6,9))
00122
00123 if __name__ == '__main__':
00124 import rostest
00125 rostest.unitrun('pr2_calibration_propagation', 'test_split_elem', TestSplitElem, coverage_packages=['pr2_calibration_propagation.update_joint'])
00126 rostest.unitrun('pr2_calibration_propagation', 'test_atomic_elem', TestAtomicElem, coverage_packages=['pr2_calibration_propagation.update_joint'])
00127 rostest.unitrun('pr2_calibration_propagation', 'test_attr', TestAttr, coverage_packages=['pr2_calibration_propagation.update_joint'])
00128 rostest.unitrun('pr2_calibration_propagation', 'test_update_joint', TestUpdateJoint, coverage_packages=['pr2_calibration_propagation.update_joint'])
00129 rostest.unitrun('pr2_calibration_propagation', 'test_split_internals', TestSplitInternals, coverage_packages=['pr2_calibration_propagation.update_joint'])
00130 rostest.unitrun('pr2_calibration_propagation', 'test_update_transmission', TestUpdateTransmission, coverage_packages=['pr2_calibration_propagation.update_joint'])
