test_airhand.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

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# Copyright (c) 2014, Tokyo Opensource Robotics Kyokai Association
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# Author: Isaac I.Y. Saito

import unittest

import rostest

from nextage_ros_bridge import nextage_client

_GOINITIAL_TIME_MIDSPEED = 3  # second
_PKG = 'nextage_ros_bridge'


class TestNxoAirhand(unittest.TestCase):
    '''
    Test NextageClient with rostest. This does NOT test hardware (i.e. if DIO
    is connected and functioning); instead, this only verifies if the
    software works as to the given hardware spec.

    For tests involving hardware, follow
    https://github.com/start-jsk/rtmros_hironx/issues/272.
    '''

    @classmethod
    def setUpClass(cls):
        cls._robot = nextage_client.NextageClient()
        cls._robot.init()
        cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)

        # For older DIO version robot.
        cls._robot_04 = nextage_client.NextageClient()
        cls._robot_04.set_hand_version(version=cls._robot_04.HAND_VER_0_4_2)
        cls._robot_04.init()
        cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)

    @classmethod
    def tearDownClass(cls):
        cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
        cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)

    def test_airhand_l_release(self):
        result = self._robot._hands.airhand_l_release()
        result = self._robot_04.airhand_l_release() and result
        self.assertTrue(result)

    def test_airhand_r_release(self):
        result = self._robot._hands.airhand_r_release()
        result = self._robot_04.airhand_r_release() and result
        self.assertTrue(result)

    def test_airhand_l_drawin(self):
        result = self._robot._hands.airhand_l_drawin()
        result = self._robot_04.airhand_l_drawin() and result
        self.assertTrue(result)

    def test_airhand_r_drawin(self):
        result = self._robot._hands.airhand_r_drawin()
        result = self._robot_04.airhand_r_drawin() and result
        self.assertTrue(result)

    def test_airhand_l_keep(self):
        result = self._robot._hands.airhand_l_keep()
        result = self._robot_04.airhand_l_keep() and result
        self.assertTrue(result)

    def test_airhand_r_keep(self):
        result = self._robot._hands.airhand_r_keep()
        result = self._robot_04.airhand_r_keep() and result
        self.assertTrue(result)

if __name__ == '__main__':
    rostest.rosrun(_PKG, 'test_nxo_airhand', TestNxoAirhand)