def parse(tokens, filename):
"""Parses the given file, converts it to an AST, and performs weeding.
Returns the tree or throws an JoosSyntaxException."""
parse_tree = parse_token_list(tokens)
sys.setrecursionlimit(100000)
tree_root = et.ElementTree.Element("fake_root")
xml_tree = dump_to_xml(parse_tree, tree_root)[0]
tree = simplify.simplify_tree(xml_tree)
weed.weed(tree, filename)
tree.filename = filename
return tree
def test_change_velocity(self):
commandX = weed.weed("robot_0", False)
twist = Twist()
twist.linear.x = 1.0
commandX.cmd_vel_pub.publish(twist)
commandX.wait(5)
self.assertEqual(commandX.twist.linear.x , 1.0)
def test_change_velocity(self):
commandX = weed.weed("robot_0", False)
twist = Twist()
twist.linear.x = 1.0
commandX.cmd_vel_pub.publish(twist)
commandX.wait(5)
self.assertEqual(commandX.twist.linear.x, 1.0)
def test_move_x_steps_backward(self):
#Starting position is (-3,0,0)
# move robot 3 meters using the method
commandX = weed.weed("robot_11", False)
commandX.move_x_steps(-3)
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x > -6.5 ) & (data_from_callback.pose.pose.position.x < -5.5):
result = True
self.assertTrue(result)
def test_move_to_backwards(self):
# earliest position (4,0,0)
# move robot backward to position (0,0,0)
commandX = weed.weed("robot_11", False)
commandX.move_to(Point(0.0, 0.0, 0.0))
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x > -0.5 ) & (data_from_callback.pose.pose.position.x < 0.5):
result = True
self.assertTrue(result)
def test_move_x_steps_backward(self):
#Starting position is (-3,0,0)
# move robot 3 meters using the method
commandX = weed.weed("robot_11", False)
commandX.move_x_steps(-3)
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x >
-6.5) & (data_from_callback.pose.pose.position.x < -5.5):
result = True
self.assertTrue(result)
def test_move_to_backwards(self):
# earliest position (4,0,0)
# move robot backward to position (0,0,0)
commandX = weed.weed("robot_11", False)
commandX.move_to(Point(0.0, 0.0, 0.0))
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x >
-0.5) & (data_from_callback.pose.pose.position.x < 0.5):
result = True
self.assertTrue(result)
def test_move_x_steps(self):
#Starting position is (0,0,0)
# move robot 3 meters to on the direction he is facing (negative)
commandX = weed.weed("robot_11", False)
commandX.move_x_steps(3)
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x > -3.5 ) & (data_from_callback.pose.pose.position.x < -2.5):
result = True
self.assertTrue(result)
def test_move_x_steps(self):
#Starting position is (0,0,0)
# move robot 3 meters to on the direction he is facing (negative)
commandX = weed.weed("robot_11", False)
commandX.move_x_steps(3)
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x >
-3.5) & (data_from_callback.pose.pose.position.x < -2.5):
result = True
self.assertTrue(result)
def test_move_to(self):
# ensure that node starts from position 0
self.assertEquals(int(data_from_callback.pose.pose.position.x), 0.0)
# Test method
commandX = weed.weed("robot_11", False)
commandX.move_to(Point(4.0, 0.0, 0.0))
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x > 3.5 ) & (data_from_callback.pose.pose.position.x < 4.5):
result = True
self.assertTrue(result)
def test_move_to(self):
# ensure that node starts from position 0
self.assertEquals(int(data_from_callback.pose.pose.position.x), 0.0)
# Test method
commandX = weed.weed("robot_11", False)
commandX.move_to(Point(4.0, 0.0, 0.0))
# testing robot is in the correct position (allowing margin of error of <1)
result = False
if (data_from_callback.pose.pose.position.x >
3.5) & (data_from_callback.pose.pose.position.x < 4.5):
result = True
self.assertTrue(result)
def test_turn_left(self):
commandX = weed.weed("robot_0", False)
self.assertEqual(commandX.face_value(commandX.rad_orient), Face.East)
commandX.turnLeft()
self.assertEqual(commandX.face_value(commandX.rad_orient), Face.North)
def test_laser_switching(self):
commandX = weed.weed("robot_11", False)
self.assertEqual(commandX.laser_on, False)
commandX.laser_on = True
self.assertEqual(commandX.laser_on, True)
def test_laser_switching(self):
commandX = weed.weed("robot_11", False)
self.assertEqual(commandX.laser_on, False)
commandX.laser_on = True
self.assertEqual(commandX.laser_on , True)
def test_turn_left(self):
commandX = weed.weed("robot_0", False)
self.assertEqual(commandX.face_value(commandX.rad_orient),Face.East)
commandX.turnLeft()
self.assertEqual(commandX.face_value(commandX.rad_orient),Face.North)
