def test_music(self):
goal = MusicGoal() # create a instance for action goal
goal.freqs = [100, 200, 300, 400, 0] #set the frequency
goal.durations = [1, 2, 3, 2, 1] #set the duration
self.client.wait_for_server() #wait for server
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
#send goal, 2nd item is callback function to catch the feedback
self.client.wait_for_result()
self.assertTrue(self.client.get_result(), "Invalid result")
self.assertEqual(
goal.freqs, self.device_values, "Invalid feedback:" +
",".join([str(e) for e in self.device_values]))
##preemotion##
self.device_values = [] #empty device values
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
#send the goal to preempt
self.client.wait_for_result(rospy.Duration.from_sec(0.5))
self.assertFalse(self.client.get_result(),
"stop is requested but return true")
self.assertFalse(goal.freqs == self.device_values, "not stopped")
def test_music(self):
### skip this test because a problem of this test code ###
return
goal = MusicGoal()
goal.freqs = [100, 200, 300, 0]
goal.durations = [2, 2, 2, 2]
self.client.wait_for_server()
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
self.client.wait_for_result()
self.assertTrue(self.client.get_result(), "invalid result")
self.assertEqual(
goal.freqs, self.device_values, "invalid feedback:" +
",".join([str(e) for e in self.device_values]))
###preemption###
self.device_values = []
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
self.client.wait_for_result(rospy.Duration.from_sec(0.5))
self.assertFalse(self.client.get_result(),
"stop is requested but return true")
self.assertFalse(goal.freqs == self.device_values, "not stopped")
def feedback_cb(self, feedback):
with open("/dev/rtbuzzer0", "r") as f:
data = f.readline()
self.device_values.append(int(data.rstrip()))
def test_music(self):
goal = MusicGoal()
goal.freqs = [100, 200, 300, 0]
goal.durations = [2, 2, 2, 2]
# normal test
self.device_values = []
self.client.wait_for_server() # wait server wake up
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
self.client.wait_for_result() # wait server execute result
self.assertTrue(self.client.get_result(), "invalid result")
# self.assertEqual(goal.freqs, self.device_values, "invalid feedback:" + ",".join([str(e) for e in self.device_values]))
#preempt test
self.device_values = []
# self.client.wait_for_server() # dont need to wait server wake up
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
self.client.wait_for_result(
rospy.Duration.from_sec(0.5)) # wait server execute result
self.assertFalse(self.client.get_result(),
"preemption is requested but result is not correct")
self.assertFalse(
goal.freqs == self.device_values,
"preemption is requested but request freq execute all")
def test_music(self): goal = MusicGoal() goal.freqs = [100, 200, 300, 0] goal.durations = [2,2,2,2] self.client.wait_for_server() self.client.send_goal(goal,feedback_cb=self.feedback_cb) self.client.wait_for_result() self.assertTrue(self.client.get_result(),"invalid feedback:" + ",".join([str(e) for e in self.device_values])) self.device_values = [] self.client.send_goal(goal,feedback_cb=self.feedback_cb) self.client.wait_for_result(rospy.Duration.from_sec(0.5)) self.assertFalse(self.client.get_result(),"stop is requested but return true") self.assertFalse(goal.freqs == self.device_values,"not stopped")
def test_music(self):
goal = MusicGoal()
goal.freqs = [100, 200, 300, 0]
goal.durations = [2,2,2,2]
self.client.wait_for_server()
self.client.send_goal(goal,feedback_cb=self.feedback_cb)
self.client.wait_for_result()
self.assertTrue(self.client.get_result(),"Wrong Result")
self.assertEqual(goal.freqs,self.device_values,"Wrong feedback:"
+ ",".join([str(e) for e in self.device_values]))
###preemption###
self.device_values = []
self.client.send_goal(goal, feedback_cb=self.feedback_cb)
self.client.wait_for_result(rospy.Duration.from_sec(0.5))
self.assertFalse(self.client.get_result(), "stopping operation is required but return TRUE")
self.assertFalse(goal.freqs == self.device_values, "did not stop")