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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 TestNxoHandlight(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
00076
00077
00078
00079 def test_handlight_r_05(self):
00080 '''Testing software version 0.5 or newer'''
00081 if self._robot.simulation_mode:
00082 result = self._robot._hands.handlight_r(is_on=False)
00083 self.assertTrue(result)
00084 else:
00085 result = self._robot._hands.handlight_r(is_on=True)
00086 self.assertTrue(result)
00087
00088 def test_handlight_r_04(self):
00089 if self._robot.simulation_mode:
00090 result = self._robot_04.handlight_r(is_on=False)
00091 self.assertTrue(result)
00092 else:
00093 result = self._robot_04.handlight_r(is_on=True)
00094 self.assertTrue(result)
00095
00096 def test_handlight_l_05(self):
00097 '''Testing software version 0.5 or newer'''
00098 if self._robot.simulation_mode:
00099 result = self._robot._hands.handlight_l(is_on=False)
00100 self.assertFalse(result)
00101 else:
00102 result = self._robot._hands.handlight_l(is_on=True)
00103 self.assertTrue(result)
00104
00105 def test_handlight_l_04(self):
00106 if self._robot.simulation_mode:
00107 result = self._robot_04.handlight_l(is_on=False)
00108 self.assertTrue(result)
00109 else:
00110 result = self._robot_04.handlight_l(is_on=True)
00111 self.assertTrue(result)
00112
00113 def test_handlight_both_05(self):
00114 '''Testing software version 0.5 or newer'''
00115 if self._robot.simulation_mode:
00116
00117 result = self._robot._hands.handlight_both(is_on=False)
00118 self.assertFalse(result)
00119 else:
00120 result = self._robot._hands.handlight_both(is_on=True)
00121 self.assertTrue(result)
00122
00123 def test_handlight_both_04(self):
00124 if self._robot.simulation_mode:
00125
00126 result = self._robot_04.handlight_both(is_on=False) and result
00127 self.assertFalse(result)
00128 else:
00129 result = self._robot_04.handlight_both(is_on=True) and result
00130 self.assertTrue(result)
00131
00132 if __name__ == '__main__':
00133 rostest.rosrun(_PKG, 'test_nxo_handlight', TestNxoHandlight)