class TestPicker(unittest.TestCase):
def setUp(self):
rospy.init_node('test_picker')
self.picker = PickerRobot('robot_0', 2, 0.9, -20, 43, 0)
def test_picker_count(self):
"""Test that the kiwifruit count increments when in orchard"""
self.picker.position['x'] = 0
self.picker.position['y'] = 0 #origin is in orchard
self.picker.fruit_count = 0
self.picker.execute_callback()
if self.picker.randint == 1:
self.assertEqual(self.picker.fruit_count,1)
else:
self.assertEqual(self.picker.fruit_count,0)
def test_picker_picking_speed(self):
"""Check the picker slows down to its picking speed when in orchard"""
self.picker.current_speed = 4
self.picker.position['x'] = 0
self.picker.position['y'] = 0 #origin is in orchard
self.picker.execute_callback()
self.assertEqual(self.picker.current_speed, 1) # Designated pick speed
def test_picker_normal_speed(self):
"""Check the picker sets a normal speed when it's outside orchard"""
self.picker.current_speed = 0.1
self.picker.position['x'] = 9000
self.picker.position['y'] = 9000 #position out of orchard
self.picker.execute_callback()
self.assertEqual(self.picker.current_speed, self.picker.top_speed)
def test_check_full_true(self):
"""Test check_full method to see if it detects a full count"""
self.picker.fruit_count = 999999999
self.assertTrue(self.picker.check_full())
def test_check_full_false(self):
"""Test check_full method to see if it detects non-full bin"""
self.picker.fruit_count = 0
self.assertFalse(self.picker.check_full())
class TestPicker(unittest.TestCase):
def setUp(self):
rospy.init_node('test_picker')
self.picker = PickerRobot('robot_0', 2, 0.9, -20, 43, 0)
def test_picker_count(self):
"""Test that the kiwifruit count increments when in orchard"""
self.picker.position['x'] = 0
self.picker.position['y'] = 0 #origin is in orchard
self.picker.fruit_count = 0
self.picker.execute_callback()
if self.picker.randint == 1:
self.assertEqual(self.picker.fruit_count, 1)
else:
self.assertEqual(self.picker.fruit_count, 0)
def test_picker_picking_speed(self):
"""Check the picker slows down to its picking speed when in orchard"""
self.picker.current_speed = 4
self.picker.position['x'] = 0
self.picker.position['y'] = 0 #origin is in orchard
self.picker.execute_callback()
self.assertEqual(self.picker.current_speed, 1) # Designated pick speed
def test_picker_normal_speed(self):
"""Check the picker sets a normal speed when it's outside orchard"""
self.picker.current_speed = 0.1
self.picker.position['x'] = 9000
self.picker.position['y'] = 9000 #position out of orchard
self.picker.execute_callback()
self.assertEqual(self.picker.current_speed, self.picker.top_speed)
def test_check_full_true(self):
"""Test check_full method to see if it detects a full count"""
self.picker.fruit_count = 999999999
self.assertTrue(self.picker.check_full())
def test_check_full_false(self):
"""Test check_full method to see if it detects non-full bin"""
self.picker.fruit_count = 0
self.assertFalse(self.picker.check_full())
