def test_camera_removal(self):
"""
Ensure that the camera processes are stopped when removing a robot,
stopping or resetting a simulation
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
pepper = manager.spawnPepper(client, spawn_ground_plane=True)
handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP)
camera = pepper.getCamera(handle)
self.assertTrue(camera.isActive())
manager.removePepper(pepper)
self.assertFalse(camera.isActive())
pepper = manager.spawnPepper(client, spawn_ground_plane=True)
handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP)
camera = pepper.getCamera(handle)
self.assertTrue(camera.isActive())
manager.resetSimulation(client)
self.assertFalse(camera.isActive())
pepper = manager.spawnPepper(client, spawn_ground_plane=True)
handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP)
camera = pepper.getCamera(handle)
self.assertTrue(camera.isActive())
manager.stopSimulation(client)
self.assertFalse(camera.isActive())
def test_reset_simulation(self):
"""
Test the @resetSimulation method
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
manager.resetSimulation(client)
manager.stopSimulation(client)
PepperBaseTest,
PepperJointTest,
PepperLaserTest,
PepperCameraTest,
PepperPostureTest,
PepperSelfCollisionTest]
physics_client = simulation_manager.launchSimulation(gui=False)
for test_class in test_classes:
pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
pybullet.loadMJCF("mjcf/ground_plane.xml")
test_results.append(
test_runner.run(test_loader.loadTestsFromTestCase(test_class)))
simulation_manager.resetSimulation(physics_client)
simulation_manager.stopSimulation(physics_client)
print("------------------------------------------------------------------")
for i in range(len(test_results)):
test_count = test_results[i].testsRun
test_failures = test_results[i].failures
test_errors = test_results[i].errors
test_passed = test_count - len(test_failures)
if len(test_failures) != 0:
has_failed = True
print(test_classes[i].__name__ + "[" + str(test_count) + " tests]:")
print(str(test_passed) + " [\033[1m\033[92mpassed\033[0m]")
