class TestTractor(unittest.TestCase):
def setUp(self):
rospy.init_node('test_tractor')
self.tractor = Tractor('robot_0', 2, 0.9, -20, 43, 0)
for i in range(0, 20):
self.tractor.execute()
def test_init(self):
"""Checks if subscribed information has been received."""
self.assertIsNot(self.tractor.odometry, None)
self.assertIsNot(self.tractor.leftLaser, None)
self.assertIsNot(self.tractor.rightLaser, None)
def test_execute_callback_was_blocked_false(self):
"""Test actions are added to queue when was_blocked is false"""
self.tractor.was_blocked = False
self.tractor._action_queue[:] = [] #clear the list
self.tractor.execute_callback()
self.assertEqual(len(self.tractor._action_queue),4)
def test_execute_callback_was_blocked_true(self):
"""test was_blocked is true and action queue is old
queue when was_blocked is true"""
self.tractor.was_blocked = True
self.tractor.old_queue = []
self.tractor.execute_callback()
self.assertFalse(self.tractor.was_blocked)
self.assertEqual(self.tractor._action_queue,self.tractor.old_queue)
def test_orchard_get_coordinates(self):
"""Test the boundary values obtained from file are floats
NOTE: This is based on default world file. If configured world is run last this will fail"""
boundaries = locations.get_wall_boundaries()
self.tractor.min_x = boundaries["min_x"]
self.tractor.max_x = boundaries["max_x"]
self.tractor.min_y = boundaries["min_y"]
self.tractor.max_y = boundaries["max_y"]
self.assertEqual(self.tractor.min_x, -35)
self.assertEqual(self.tractor.min_y, -60)
self.assertEqual(self.tractor.max_x, 35)
self.assertEqual(self.tractor.max_y, 60)
class TestTractor(unittest.TestCase):
def setUp(self):
rospy.init_node('test_tractor')
self.tractor = Tractor('robot_0', 2, 0.9, -20, 43, 0)
for i in range(0, 20):
self.tractor.execute()
def test_init(self):
"""Checks if subscribed information has been received."""
self.assertIsNot(self.tractor.odometry, None)
self.assertIsNot(self.tractor.leftLaser, None)
self.assertIsNot(self.tractor.rightLaser, None)
def test_execute_callback_was_blocked_false(self):
"""Test actions are added to queue when was_blocked is false"""
self.tractor.was_blocked = False
self.tractor._action_queue[:] = [] #clear the list
self.tractor.execute_callback()
self.assertEqual(len(self.tractor._action_queue), 4)
def test_execute_callback_was_blocked_true(self):
"""test was_blocked is true and action queue is old
queue when was_blocked is true"""
self.tractor.was_blocked = True
self.tractor.old_queue = []
self.tractor.execute_callback()
self.assertFalse(self.tractor.was_blocked)
self.assertEqual(self.tractor._action_queue, self.tractor.old_queue)
def test_orchard_get_coordinates(self):
"""Test the boundary values obtained from file are floats
NOTE: This is based on default world file. If configured world is run last this will fail"""
boundaries = locations.get_wall_boundaries()
self.tractor.min_x = boundaries["min_x"]
self.tractor.max_x = boundaries["max_x"]
self.tractor.min_y = boundaries["min_y"]
self.tractor.max_y = boundaries["max_y"]
self.assertEqual(self.tractor.min_x, -35)
self.assertEqual(self.tractor.min_y, -60)
self.assertEqual(self.tractor.max_x, 35)
self.assertEqual(self.tractor.max_y, 60)
robot_storage.addRobot(binbot1, "robot_4")
robot_storage.addRobot(binbot2, "robot_5")
robot_storage.addRobot(binbot3, "robot_6")
robot_storage.addRobot(binbot4, "robot_7")
robot_storage.addRobot(picker1, "robot_8")
robot_storage.addRobot(picker2, "robot_9")
robot_storage.addRobot(picker3, "robot_10")
robot_storage.addRobot(carrier1, "robot_11")
robot_storage.addRobot(carrier2, "robot_12")
rate = rospy.Rate(10)
# Continually execute robots in execution loop.
while not rospy.is_shutdown():
animal.execute()
tractor.execute()
person1.execute()
person2.execute()
picker1.execute()
picker2.execute()
picker3.execute()
carrier1.execute()
carrier2.execute()
binbot1.execute()
binbot2.execute()
binbot3.execute()
binbot4.execute()
rate.sleep()
robot_storage.addRobot(binbot1, "robot_4")
robot_storage.addRobot(binbot2, "robot_5")
robot_storage.addRobot(binbot3, "robot_6")
robot_storage.addRobot(binbot4, "robot_7")
robot_storage.addRobot(picker1, "robot_8")
robot_storage.addRobot(picker2, "robot_9")
robot_storage.addRobot(picker3, "robot_10")
robot_storage.addRobot(carrier1, "robot_11")
robot_storage.addRobot(carrier2, "robot_12")
rate = rospy.Rate(10)
# Continually execute robots in execution loop.
while not rospy.is_shutdown():
animal.execute()
tractor.execute()
person1.execute()
person2.execute()
picker1.execute()
picker2.execute()
picker3.execute()
carrier1.execute()
carrier2.execute()
binbot1.execute()
binbot2.execute()
binbot3.execute()
binbot4.execute()
rate.sleep()
