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#!/usr/bin/env python3
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import roslib; roslib.load_manifest('test_nodelet')
import rospy
from std_msgs.msg import Float64
import unittest
import rostest
import random
class PlusTester:
def __init__(self, topic_in, topic_out, delta):
self.pub = rospy.Publisher(topic_in, Float64)
self.sub = rospy.Subscriber(topic_out, Float64, self.callback)
self.expected_delta = delta
self.send_value = random.random()
self.recieved = False
self.result = False
self.delta = delta
def run(self, cycles = 10):
for i in range(1, cycles):
self.pub.publish(Float64(self.send_value))
rospy.loginfo("Sent %f"%self.send_value);
if self.recieved == True:
break
rospy.sleep(1.0)
return self.result
def callback(self, data):
rospy.loginfo(rospy.get_name()+" I heard %s which was a change of %f",data.data, data.data-self.send_value)
if data.data == self.send_value + self.delta:
self.result = True
self.recieved = True
class TestPlus(unittest.TestCase):
def test_param(self):
pb = PlusTester("Plus/in", "Plus/out", 2.1)
self.assertTrue(pb.run())
def test_default_param(self):
pb = PlusTester("Plus2/in", "Plus2/out", 10.0)
self.assertTrue(pb.run())
def test_standalone(self):
pb = PlusTester("Plus2/out", "Plus3/out", 2.5)
self.assertTrue(pb.run())
def test_remap(self):
pb = PlusTester("plus_remap/in", "remapped_output", 2.1)
self.assertTrue(pb.run())
def test_chain(self):
pb = PlusTester("Plus2/in", "Plus3/out", 12.5)
self.assertTrue(pb.run())
if __name__ == '__main__':
rospy.init_node('plus_local')
rostest.rosrun('test_nodelet', 'test_plus', TestPlus)
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