def test_travel_distance(self):
action = Action()
action.action_point = lambda org: self.action_point
self.assertEqual(
action.travel_distance(self.robot_position),
# from robot to first to second
math.sqrt(30 * 30 + 10 * 10) + math.sqrt(60 * 60 + 50 * 50))
def test_set_state(self):
action = Action()
for state in [
ActionStatus.IDLE, ActionStatus.PAUSED, ActionStatus.DONE,
ActionStatus.RUNNING
]:
action.state = state
self.assertEqual(state, action.state,
"state is set to {}".format(state))
def test_action_point(self):
"""
Test action point computation for dock_control performer.
"""
# Create move action
action = Action.parse_string("<dock_control />")
#action.arguments.set("argname", value)
# Test computation
self.assertEqual(self.action_point,
action.action_point(self.robot_position),
"compute action point with remote service")
def test_perform_success(self):
self.action_state = ActionStatus.IDLE
self.pc.perform_action(Action.parse_string("<template />"), Pose2D())
# Wait for result
start = time()
while not rospy.is_shutdown() and time() - start < 1 \
and self.action_state == ActionStatus.IDLE:
sleep(0.1)
# Assert action performed
self.assertEqual(self.action_state, ActionStatus.DONE,
"right action status")
def test_priority(self):
action = Action()
action.points = 30
action.travel_distance = lambda org: 78
self.assertEqual(action.priority(self.robot_position), 900 / 78,
"compute regular priority")
# Distance to 0
action.travel_distance = lambda org: 0
self.assertEqual(action.priority(self.robot_position), math.inf,
"compute priority with travel distance to 0")
def test_action_parsing(self):
parsed = Action.parse_string("""
<parse native="true" points="34">
<arg name="file">yes</arg>
<arg name="smthg">34</arg>
</parse>
""")
self.assertEqual(parsed.name, "parse", "name parsed")
self.assertEqual(parsed.native, True, "native parsed")
self.assertEqual(parsed.repeat, None, "native parsed")
self.assertEqual(parsed.points, 34)
self.assertEqual(parsed.arguments.get("file"), "yes")
self.assertEqual(parsed.arguments.get("smthg", int), 34)
def test_action_point(self):
# Create move action
action = Action.parse_string("""
<move native='true'>
<arg name="x">90</arg>
<arg name="y">60</arg>
<arg name="theta">0</arg>
</move>
""")
# Test computation
self.assertEqual(self.action_point,
action.action_point(self.first_position),
"compute with remote service")
# Change settings to test cache (not supposed to be re-set)
action.arguments.set("x", 25)
action.arguments.set("y", 10)
action.arguments.set("theta", 40)
# Test usage of cache (almost same condition)
self.assertEqual(self.action_point,
action.action_point(self.first_position),
"does not recompute with cache")