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)