class TestStatus(unittest.TestCase):
def setUp(self):
rospy.init_node('test_status')
self.robot = Robot('robot_0', 1, 0.5, 1, 1, pi/2)
self.robot1 = Robot('robot_1', 1, 0.5, 5, 5, pi/2)
# Execute robots a few times to allow statuses to become existant.
for i in range(0, 10):
self.robot.execute()
self.robot1.execute()
time.sleep(0.1)
def test_init(self):
"""Checks if status exists after initialising."""
self.assertIsNotNone(self.robot.curr_robot_messages)
self.assertIsNotNone(self.robot.curr_robot_messages[1])
self.assertIsNotNone(self.robot.curr_robot_messages[1].robot_id)
def test_robot_id(self):
"""Tests that the robots are publishing the correct id"""
self.assertEquals(self.robot.curr_robot_messages[1].robot_id, 'robot_1')
def test_position(self):
"""Tests whether the robots are publishing the correct position"""
self.assertAlmostEqual(self.robot.curr_robot_messages[1].x, 5.0, places=2)
def to_string(self):
return "test movement"
class TestStatus(unittest.TestCase):
def setUp(self):
rospy.init_node('test_status')
self.robot = Robot('robot_0', 1, 0.5, 1, 1, pi / 2)
self.robot1 = Robot('robot_1', 1, 0.5, 5, 5, pi / 2)
# Execute robots a few times to allow statuses to become existant.
for i in range(0, 10):
self.robot.execute()
self.robot1.execute()
time.sleep(0.1)
def test_init(self):
"""Checks if status exists after initialising."""
self.assertIsNotNone(self.robot.curr_robot_messages)
self.assertIsNotNone(self.robot.curr_robot_messages[1])
self.assertIsNotNone(self.robot.curr_robot_messages[1].robot_id)
def test_robot_id(self):
"""Tests that the robots are publishing the correct id"""
self.assertEquals(self.robot.curr_robot_messages[1].robot_id,
'robot_1')
def test_position(self):
"""Tests whether the robots are publishing the correct position"""
self.assertAlmostEqual(self.robot.curr_robot_messages[1].x,
5.0,
places=2)
def to_string(self):
return "test movement"
class TestRobot(unittest.TestCase):
def setUp(self):
rospy.init_node('test_robot')
self.robot = Robot('robot_0', 1, 0.5, 1, 1, pi / 2)
for i in range(0, 20):
self.robot.execute()
def test_init(self):
"""Checks if subscribed information has been received."""
self.assertIsNot(self.robot.odometry, None)
self.assertIsNot(self.robot.leftLaser, None)
self.assertIsNot(self.robot.rightLaser, None)
def test_forward(self):
"""Checks if forward sets the velocity to its top speed."""
self.robot.forward()
self.assertEqual(self.robot.velocity.linear.x, 1)
def test_stop(self):
"""Checks if stop sets the linear and angular velocity to 0."""
self.robot.forward()
self.robot.start_rotate()
self.robot.stop()
self.assertEqual(self.robot.velocity.linear.x, 0)
self.assertEqual(self.robot.velocity.angular.z, 0)
def test_set_angular_velocity(self):
"""Checks if angular velocity is set to the specified value."""
self.robot.set_angular_velocity(0.2)
self.assertEqual(self.robot.velocity.angular.z, 0.2)
def test_set_linear_velocity(self):
"""Checks if linear velocity is set to the specified value."""
self.robot.set_linear_velocity(0.7)
self.assertEqual(self.robot.velocity.linear.x, 0.7)
def test_start_rotate(self):
"""Checks if angular velocity is set to angular_top_speed
and rotation_executing is set to true."""
self.robot.start_rotate()
self.assertEqual(self.robot.velocity.angular.z, 0.5)
self.assertTrue(self.robot.rotation_executing)
def test_start_rotate_opposite(self):
"""Checks if angular velocity is set to angular_top_speed in the
negative direction and rotation_executing is set to true."""
self.robot.start_rotate_opposite()
self.assertEqual(self.robot.velocity.angular.z, -0.5)
self.assertTrue(self.robot.rotation_executing)
def test_stop_rotate(self):
"""Checks to see if angular velocity is set to 0 and
rotation_executing is set to false."""
self.robot.stop_rotate()
self.assertEqual(self.robot.velocity.angular.z, 0)
self.assertFalse(self.robot.rotation_executing)
class TestRobot(unittest.TestCase):
def setUp(self):
rospy.init_node('test_robot')
self.robot = Robot('robot_0', 1, 0.5, 1, 1, pi / 2)
for i in range(0, 20):
self.robot.execute()
def test_init(self):
"""Checks if subscribed information has been received."""
self.assertIsNot(self.robot.odometry, None)
self.assertIsNot(self.robot.leftLaser, None)
self.assertIsNot(self.robot.rightLaser, None)
def test_forward(self):
"""Checks if forward sets the velocity to its top speed."""
self.robot.forward()
self.assertEqual(self.robot.velocity.linear.x, 1)
def test_stop(self):
"""Checks if stop sets the linear and angular velocity to 0."""
self.robot.forward()
self.robot.start_rotate()
self.robot.stop()
self.assertEqual(self.robot.velocity.linear.x, 0)
self.assertEqual(self.robot.velocity.angular.z, 0)
def test_set_angular_velocity(self):
"""Checks if angular velocity is set to the specified value."""
self.robot.set_angular_velocity(0.2)
self.assertEqual(self.robot.velocity.angular.z, 0.2)
def test_set_linear_velocity(self):
"""Checks if linear velocity is set to the specified value."""
self.robot.set_linear_velocity(0.7)
self.assertEqual(self.robot.velocity.linear.x, 0.7)
def test_start_rotate(self):
"""Checks if angular velocity is set to angular_top_speed
and rotation_executing is set to true."""
self.robot.start_rotate()
self.assertEqual(self.robot.velocity.angular.z, 0.5)
self.assertTrue(self.robot.rotation_executing)
def test_start_rotate_opposite(self):
"""Checks if angular velocity is set to angular_top_speed in the
negative direction and rotation_executing is set to true."""
self.robot.start_rotate_opposite()
self.assertEqual(self.robot.velocity.angular.z, -0.5)
self.assertTrue(self.robot.rotation_executing)
def test_stop_rotate(self):
"""Checks to see if angular velocity is set to 0 and
rotation_executing is set to false."""
self.robot.stop_rotate()
self.assertEqual(self.robot.velocity.angular.z, 0)
self.assertFalse(self.robot.rotation_executing)
