def __init__(self, expression_enum, gesture_enum):
Entity.__init__(self, Robot.ENTITY_TYPE, Robot.ENTITY_TYPE + str(1), None)
self.expression_enum = expression_enum
self.gesture_enum = gesture_enum
self.gaze_client = actionlib.SimpleActionClient('gaze', TargetAction)
self.gaze_found = False
self.expression_client = MultiGoalActionClient('expression', ExpressionAction)
self.expression_found = False
self.tts_client = actionlib.SimpleActionClient('text_to_speech', TextToSpeechAction)
self.tts_found = False
self.gesture_client = MultiGoalActionClient('gesture', GestureAction)
self.gesture_found = False
self.tts_duration_srv = rospy.ServiceProxy('tts_subsentence_duration', TextToSpeechSubsentenceDuration)
self.tts_duration_found = False
self.event = None
self.action_handles = []
self.say_to_plan = SayToPlan(self)
self.gaze_ah = None
self.say_ah = None
self.lock = threading.RLock()
self.listen_cb = None
self.listen_sub = None
def test_wait_for_server(self):
started1 = self.client.wait_for_server(
timeout=rospy.Duration.from_sec(1.0))
client2 = MultiGoalActionClient("i_dont_exist", TimerAction)
started2 = client2.wait_for_server(
timeout=rospy.Duration.from_sec(1.0))
self.assertEqual(started1, True)
self.assertEqual(started2, False)
def setUp(self):
global count
rospy.init_node("test", anonymous=True)
self.action_server = TimerActionServer(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count))
self.action_server.start_server()
self.client = MultiGoalActionClient(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count),
TimerAction)
self.client.wait_for_server()
count += 1
