class TestStopBase(unittest.TestCase):
def test_stop_base_(self):
""" Initialize requester for stop base service. """
rospy.init_node("test_stop_base")
self.lock = threading.RLock()
self.node_name = rospy.get_name()
self.expected_status = StopBaseStatus.RUNNING
self.client = StopBaseClient()
self.sub_vel = rospy.Subscriber('cmd_vel_safe', Twist,
self.cmd_vel_callback)
self.next_step = self.step1 # first step of test sequence
self.timer = rospy.Timer(rospy.Duration(2.0), self.periodic_update)
rospy.spin()
def cmd_vel_callback(self, msg):
""" Callback for cmd_vel_safe messages. """
with self.lock:
if self.expected_status == StopBaseStatus.RUNNING:
self.assertGreaterEqual(msg.linear.x, 0.5)
else:
self.assertEqual(msg.linear.x, 0.0)
def periodic_update(self, event):
""" Timer event handler for periodic request updates.
Invokes self.next_step(), unless ``None``.
"""
if self.next_step is not None: # more to do?
self.next_step()
else: # no more steps
rospy.signal_shutdown('test completed.')
def step1(self):
rospy.loginfo('Step 1')
self.next_step = self.step2
def step2(self):
rospy.loginfo('Step 2')
with self.lock:
self.expected_status = StopBaseStatus.PAUSED
self.client.stop_base(
status=self.expected_status,
requester=self.node_name)
self.next_step = self.step3
def step3(self):
rospy.loginfo('Step 3')
with self.lock:
self.expected_status = StopBaseStatus.RUNNING
self.client.stop_base(
status=self.expected_status,
requester=self.node_name)
self.next_step = self.step4
def step4(self):
rospy.loginfo('Step 4')
self.next_step = None
def test_stop_base_(self):
""" Initialize requester for stop base service. """
rospy.init_node("test_stop_base")
self.lock = threading.RLock()
self.node_name = rospy.get_name()
self.expected_status = StopBaseStatus.RUNNING
self.client = StopBaseClient()
self.sub_vel = rospy.Subscriber('cmd_vel_safe', Twist,
self.cmd_vel_callback)
self.next_step = self.step1 # first step of test sequence
self.timer = rospy.Timer(rospy.Duration(2.0), self.periodic_update)
rospy.spin()
