test_handlight.py

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

# Software License Agreement (BSD License)
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# Copyright (c) 2014, Tokyo Opensource Robotics Kyokai Association
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#    with the distribution.
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#    derived from this software without specific prior written permission.
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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 TestNxoHandlight(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()  # Latest (v0.5 or newer)
        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)

    # On simulator, return of DIO methods should fail no matter what
    # argument is passed. So assertFalse doesn't do much...it works
    # to verify that the tested methods "run without error".

    def test_handlight_r_05(self):
        '''Testing software version 0.5 or newer'''
        if self._robot.simulation_mode:
            result = self._robot._hands.handlight_r(is_on=False)
            self.assertTrue(result)
        else:
            result = self._robot._hands.handlight_r(is_on=True)
            self.assertTrue(result)

    def test_handlight_r_04(self):
        if self._robot.simulation_mode:
            result = self._robot_04.handlight_r(is_on=False)
            self.assertTrue(result)
        else:
            result = self._robot_04.handlight_r(is_on=True)
            self.assertTrue(result)

    def test_handlight_l_05(self):
        '''Testing software version 0.5 or newer'''
        if self._robot.simulation_mode:
            result = self._robot._hands.handlight_l(is_on=False)
            self.assertFalse(result)
        else:
            result = self._robot._hands.handlight_l(is_on=True)
            self.assertTrue(result)

    def test_handlight_l_04(self):
        if self._robot.simulation_mode:
            result = self._robot_04.handlight_l(is_on=False)
            self.assertTrue(result)
        else:
            result = self._robot_04.handlight_l(is_on=True)
            self.assertTrue(result)

    def test_handlight_both_05(self):
        '''Testing software version 0.5 or newer'''
        if self._robot.simulation_mode:
            # Check if checking false works.
            result = self._robot._hands.handlight_both(is_on=False)
            self.assertFalse(result)
        else:
            result = self._robot._hands.handlight_both(is_on=True)
            self.assertTrue(result)

    def test_handlight_both_04(self):
        if self._robot.simulation_mode:
            # Check if checking false works.
            result = self._robot_04.handlight_both(is_on=False) and result
            self.assertFalse(result)
        else:
            result = self._robot_04.handlight_both(is_on=True) and result
            self.assertTrue(result)

if __name__ == '__main__':
    rostest.rosrun(_PKG, 'test_nxo_handlight', TestNxoHandlight)