def test_do_backward(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
mocked_pub = mocked_rospy.Publisher.return_value
t = CommandSender('foo')._do_backward()
t.join()
mocked_rospy.Rate.assert_called_with(60)
self.assertEqual(mocked_pub.publish.call_count, int(0.2 * 60 + 1))
args_list = mocked_pub.publish.call_args_list
linear = Twist()
linear.linear.x = -1.0
linear.angular.z = 0.0
for i in range(int(0.2 * 60)):
self.assertEqual(args_list[i], call(linear))
self.assertEqual(args_list[-1], call(Twist()))
def test_do_circle(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
mocked_pub = mocked_rospy.Publisher.return_value
t = CommandSender('foo')._do_circle()
t.join()
mocked_rospy.Rate.assert_called_once_with(60)
self.assertEqual(mocked_pub.publish.call_count, int(2 * pi * 60) + 1)
args_list = mocked_pub.publish.call_args_list
twist = Twist()
twist.linear.x = 1.0
twist.angular.z = 1.0
for i in range(int(2 * pi * 60)):
self.assertEqual(args_list[i], call(twist))
self.assertEqual(args_list[-1], call(Twist()))
def test_params(self):
sender = CommandSender(NODE_NAME)
self.assertEqual(sender._params.mqtt.host, 'testhost')
self.assertEqual(sender._params.mqtt.port, 1883)
self.assertEqual(sender._params.mqtt.topics[0].key, 'command_sender')
self.assertEqual(sender._params.mqtt.topics[0].name,
'/mqtt/topics/command_sender')
self.assertEqual(sender._params.mqtt.topics[0].re,
'^(?P<device_id>.+)@move\\|(?P<cmd>.+)$')
self.assertEqual(sender._params.mqtt.topics[1].key,
'command_sender_exec')
self.assertEqual(sender._params.mqtt.topics[1].name,
'/mqtt/topics/command_sender_exec')
self.assertEqual(sender._params.mqtt.topics[1].format,
'{device_id}@move|executed {cmd}')
self.assertEqual(sender._params.mqtt.topics[2].key,
'attribute_receiver')
self.assertEqual(sender._params.mqtt.topics[2].name,
'/mqtt/topics/attribute_receiver')
self.assertEqual(sender._params.mqtt.topics[2].format,
'{timestamp}|temperature|{temperature}')
self.assertEqual(sender._params.ros.rate, 60)
self.assertEqual(sender._params.ros.topics[0].key, 'turtlesim')
self.assertEqual(sender._params.ros.topics[0].name,
'/ros/topics/turtlesim')
self.assertEqual(sender._params.ros.topics[1].key, 'temperature')
self.assertEqual(sender._params.ros.topics[1].name,
'/ros/topics/temperature')
def test_connect(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
CommandSender('foo').connect()
self.mocked_client.connect.assert_called_once_with('testhost',
port=1883,
keepalive=60)
self.mocked_client.loop_start.assert_called_once_with()
def test_do_turnright(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
mocked_pub = mocked_rospy.Publisher.return_value
t = CommandSender('foo')._do_turnright()
t.join()
mocked_rospy.Rate.assert_called_with(60)
self.assertEqual(mocked_pub.publish.call_count,
(int(pi / 16 * 60) + 1))
args_list = mocked_pub.publish.call_args_list
rotate = Twist()
rotate.linear.x = 0.0
rotate.angular.z = -1.0
for i in range(int(pi / 16 * 60)):
self.assertEqual(args_list[i], call(rotate))
self.assertEqual(args_list[-1], call(Twist()))
def test_init(self, mocked_rospy, mocked_mqtt):
node_name = 'foo'
self.setMock(mocked_rospy, mocked_mqtt)
sender = CommandSender(node_name)
self.assertEqual(sender.node_name, node_name)
self.assertFalse(mocked_mqtt.called)
mocked_mqtt.Client.assert_called_once_with(
protocol=mocked_mqtt.MQTTv311)
self.assertEqual(mocked_rospy.on_shutdown.call_count, 3)
mocked_rospy.Publisher.assert_called_once_with('/ros/topics/turtlesim',
Twist,
queue_size=10)
def test_do_triangle(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
mocked_pub = mocked_rospy.Publisher.return_value
t = CommandSender('foo')._do_triangle()
t.join()
mocked_rospy.Rate.assert_called_with(60)
self.assertEqual(mocked_pub.publish.call_count,
3 * (2 * 60 + 1) + 3 * (int(pi * 2 / 3 * 60) + 1))
args_list = mocked_pub.publish.call_args_list
linear = Twist()
linear.linear.x = 1.0
linear.angular.z = 0.0
rotate = Twist()
rotate.linear.x = 0.0
rotate.angular.z = 1.0
for i in range(2 * 60):
self.assertEqual(args_list[i], call(linear))
self.assertEqual(args_list[i + 1], call(Twist()))
for j in range(int(pi * 2 / 3 * 60)):
self.assertEqual(args_list[i + 2 + j], call(rotate))
self.assertEqual(args_list[i + 2 + j + 1], call(Twist()))
self.assertEqual(args_list[-1], call(Twist()))
def main():
try:
rospy.init_node(NODE_NAME)
mode = rospy.get_param("~mode")
logger.infof('Start node : {} [mode={}]', NODE_NAME, mode)
sender = CommandSender(NODE_NAME)
if mode == 'production':
sender.connect().start()
else:
sender.nodetest()
except rospy.ROSInterruptException:
pass
def test_on_message(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
msg_type = namedtuple('msg', ('payload', ))
sender = CommandSender('foo')
sender._do_circle = MagicMock()
sender._on_message(self.mocked_client, None,
msg_type(payload='deviceid@move|circle'))
sender._do_circle.assert_called_once_with()
cmdexec = 'deviceid@move|executed circle'
self.mocked_client.publish.assert_called_once_with(
'/mqtt/topics/command_sender_exec', cmdexec)
sender._do_circle = MagicMock()
sender._on_message(self.mocked_client, None,
msg_type(payload='invalid'))
sender._do_circle.assert_not_called()
self.assertEqual(self.mocked_client.publish.call_count, 1)
def test_on_connect(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
CommandSender('foo')._on_connect(self.mocked_client, None, None, 0)
self.mocked_client.subscribe.assert_called_once_with(
'/mqtt/topics/command_sender')
def test_start(self, mocked_rospy, mocked_mqtt):
self.setMock(mocked_rospy, mocked_mqtt)
CommandSender('foo').start()
mocked_rospy.spin.assert_called_once_with()