103 lines
3.9 KiB
Python
Executable File
103 lines
3.9 KiB
Python
Executable File
#!/usr/bin/env python
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# Copyright 2019, FZI Forschungszentrum Informatik
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import os
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import sys
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import time
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import unittest
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import pytest
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import rclpy
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from rclpy.node import Node
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from ur_dashboard_msgs.msg import RobotMode
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sys.path.append(os.path.dirname(__file__))
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from test_common import DashboardInterface, generate_dashboard_test_description # noqa: E402
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@pytest.mark.launch_test
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def generate_test_description():
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return generate_dashboard_test_description()
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class DashboardClientTest(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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# Initialize the ROS context
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rclpy.init()
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cls.node = Node("dashboard_client_test")
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cls.init_robot(cls)
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@classmethod
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def tearDownClass(cls):
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# Shutdown the ROS context
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cls.node.destroy_node()
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rclpy.shutdown()
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def init_robot(self):
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self._dashboard_interface = DashboardInterface(self.node)
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def test_switch_on(self):
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"""Test power on a robot."""
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# Wait until the robot is booted completely
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end_time = time.time() + 10
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mode = RobotMode.DISCONNECTED
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while mode != RobotMode.POWER_OFF and time.time() < end_time:
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time.sleep(0.1)
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result = self._dashboard_interface.get_robot_mode()
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self.assertTrue(result.success)
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mode = result.robot_mode.mode
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# Power on robot
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self.assertTrue(self._dashboard_interface.power_on().success)
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# Wait until robot mode changes
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end_time = time.time() + 10
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mode = RobotMode.DISCONNECTED
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while mode not in (RobotMode.IDLE, RobotMode.RUNNING) and time.time() < end_time:
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time.sleep(0.1)
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result = self._dashboard_interface.get_robot_mode()
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self.assertTrue(result.success)
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mode = result.robot_mode.mode
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self.assertIn(mode, (RobotMode.IDLE, RobotMode.RUNNING))
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# Release robot brakes
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self.assertTrue(self._dashboard_interface.brake_release().success)
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# Wait until robot mode is RUNNING
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end_time = time.time() + 10
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mode = RobotMode.DISCONNECTED
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while mode != RobotMode.RUNNING and time.time() < end_time:
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time.sleep(0.1)
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result = self._dashboard_interface.get_robot_mode()
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self.assertTrue(result.success)
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mode = result.robot_mode.mode
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self.assertEqual(mode, RobotMode.RUNNING)
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