def test_disarm(self):
iros_task = Task("my name",
Task.TYPE_DISARM,
Point(),
0, # degrees
[12.1],
42)
oros_task = pythontask_to_rostask(rostask_to_pythontask(iros_task))
self.assertEquals(iros_task, oros_task, "input and output ros_task equals")
def test_target(self):
iros_task = Task("my name",
Task.TYPE_TARGET,
Point(1,2,3),
1, # degrees
[0.1,0.2,0.3],
42)
oros_task = pythontask_to_rostask(rostask_to_pythontask(iros_task))
self.assertEquals(iros_task, oros_task, "input and output ros_task equals")
def pythontask_to_rostask(python_task):
if (python_task.getType() == "target"):
return Task(python_task.name, Task.TYPE_TARGET, python_task.target,
rad2degf(python_task.orientation), [
python_task.precision.x, python_task.precision.z,
python_task.precisionYAW
], python_task.ID)
elif (python_task.getType() == "loiter"):
return Task(python_task.name, Task.TYPE_LOITER, Point(0, 0, 0), 0,
[python_task.waitTime], python_task.ID)
elif (python_task.getType() == "takeoff"):
return Task(python_task.name, Task.TYPE_TAKEOFF, Point(0, 0, 0), 0,
[python_task.precision], python_task.ID)
elif (python_task.getType() == "land"):
return Task(python_task.name, Task.TYPE_LAND, Point(0, 0, 0), 0,
[python_task.precision], python_task.ID)
elif (python_task.getType() == "grab"):
return Task(python_task.name, Task.TYPE_GRAB, Point(0, 0, 0), 0,
[python_task.state], python_task.ID)
elif (python_task.getType() == "init_UAV"):
return Task(python_task.name, Task.TYPE_INIT_UAV, Point(0, 0, 0), 0,
[float(python_task.sleep)], python_task.ID)
elif (python_task.getType() == "arm"):
return Task(python_task.name, Task.TYPE_ARM, Point(0, 0, 0), 0,
[float(python_task.timeout)], python_task.ID)
elif (python_task.getType() == "disarm"):
return Task(python_task.name, Task.TYPE_DISARM, Point(0, 0, 0), 0,
[float(python_task.timeout)], python_task.ID)
else:
return Task("null", Task.TYPE_NULL, Point(0, 0, 0), 0, [],
python_task.ID)