def setUp(self):
self.gait_selection = GaitSelection(
gait_package="march_utility",
directory="test/resources/gait_graph_gaits",
robot=self.robot,
balance=False,
dynamic_gait=False,
)
def setUpClass(cls):
cls.robot = urdf.Robot.from_xml_file(
get_package_share_directory("march_description") +
"/urdf/march6.urdf")
cls.gait_directory = os.path.join(
get_package_share_directory(VALID_PACKAGE), VALID_DIRECTORY)
cls.gait_selection = GaitSelection(gait_package=VALID_PACKAGE,
directory=VALID_DIRECTORY,
robot=cls.robot)
def setUp(self):
self.robot = urdf.Robot.from_xml_file(
get_package_share_directory("march_description") + "/urdf/march6.urdf"
)
self.gait_directory = os.path.join(
get_package_share_directory(TEST_PACKAGE), TEST_DIRECTORY
)
self.gait_selection = GaitSelection(
gait_package=TEST_PACKAGE, directory=TEST_DIRECTORY, robot=self.robot
)
self.load_realsense_gaits()
def test_init_with_wrong_directory(self):
with self.assertRaises(FileNotFoundError):
GaitSelection(gait_package=VALID_PACKAGE, directory="wrong")
def test_init_with_wrong_package(self):
with self.assertRaises(PackageNotFoundError):
GaitSelection(gait_package="wrong", directory=VALID_DIRECTORY)
def setUp(self):
self.gait_selection = GaitSelection(gait_package=VALID_PACKAGE,
directory=VALID_DIRECTORY,
robot=self.robot)
class TestGaitSelection(unittest.TestCase):
@classmethod
def setUpClass(cls):
rclpy.init()
cls.robot = urdf.Robot.from_xml_file(
get_package_share_directory("march_description") +
"/urdf/march6.urdf")
def setUp(self):
self.gait_selection = GaitSelection(gait_package=VALID_PACKAGE,
directory=VALID_DIRECTORY,
robot=self.robot)
# __init__ tests
def test_init_with_wrong_package(self):
with self.assertRaises(PackageNotFoundError):
GaitSelection(gait_package="wrong", directory=VALID_DIRECTORY)
def test_init_with_wrong_directory(self):
with self.assertRaises(FileNotFoundError):
GaitSelection(gait_package=VALID_PACKAGE, directory="wrong")
# load gaits tests
def test_types_in_loaded_gaits(self):
for gait in self.gait_selection._gaits.values():
self.assertIsInstance(gait, GaitInterface)
def test_gait_selection_positions(self):
self.assertIn("stand", self.gait_selection.positions)
# scan directory tests
def test_scan_directory_top_level_content(self):
directory = self.gait_selection.scan_directory()
directory_gaits = [
"walk_medium",
"realsense_stand",
"realsense_sit",
"balance_walk",
"stairs_up",
"walk_small",
"walk",
]
self.assertEqual(sorted(directory.keys()), sorted(directory_gaits))
def test_scan_directory_subgait_versions(self):
directory = self.gait_selection.scan_directory()
self.assertEqual(directory["walk"]["left_swing"],
["MV_walk_leftswing_v2"])
# get item tests
def test_get_item_with_wrong_name(self):
self.assertIsNone(self.gait_selection["wrong"])
def test_get_item_type(self):
self.assertIsInstance(self.gait_selection["walk"], Gait)
def test_contains_gait_true(self):
request = ContainsGait.Request(gait="walk", subgaits=["right_open"])
response = ContainsGait.Response(contains=False)
response = self.gait_selection.contains_gait_cb(request, response)
self.assertTrue(response.contains)
def test_contains_gait_wrong_subgait(self):
request = ContainsGait.Request(gait="walk",
subgaits=["non_existing_subgait"])
response = ContainsGait.Response(contains=True)
response = self.gait_selection.contains_gait_cb(request, response)
self.assertFalse(response.contains)
def test_contains_gait_wrong_gait(self):
request = ContainsGait.Request(gait="non_existing_gait",
subgaits=["right_open"])
response = ContainsGait.Response(contains=True)
response = self.gait_selection.contains_gait_cb(request, response)
self.assertFalse(response.contains)
def test_init_with_wrong_directory(self):
with self.assertRaises(FileNotFoundError):
GaitSelection(VALID_PACKAGE, 'wrong')
def test_init_with_wrong_package(self):
with self.assertRaises(PackageNotFoundError):
GaitSelection('wrong', VALID_DIRECTORY)
def setUpClass(cls):
cls._gait_selection = GaitSelection(VALID_PACKAGE, VALID_DIRECTORY)