def test_work_order(self, json_file=None):
from work_order import (
get_work_order,
get_sorted_work_order,
get_work_order_msg,
)
from common import get_object_list
if json_file is None:
json_file = os.path.join(pkg_path, 'data/apc-a.json')
# for original work order
work_order = list(get_work_order(json_file))
self.assertEqual(len(work_order), len('abcdefghijkl'))
object_list = get_object_list()
for bin_, object_ in work_order:
self.assertIn(bin_, 'abcdefghijkl')
self.assertIn(object_, object_list)
# for sorted work order
sorted_work_order = list(get_sorted_work_order(json_file))
self.assertEqual(len(sorted_work_order), len('abcdefghijkl'))
for bin_, object_ in sorted_work_order:
self.assertIn(bin_, 'abcdefghijkl')
self.assertIn(object_, object_list)
# for msg
msg = get_work_order_msg(json_file)
self.assertEqual(len(msg['left'].array), 8)
self.assertEqual(len(msg['right'].array), 4)
for lr in ('left', 'right'):
for order in msg[lr].array:
self.assertIn(order.bin, 'abcdefghijkl')
self.assertIn(order.object, object_list)
def test_work_order(self, json_file=None):
from work_order import get_work_order, get_sorted_work_order, get_work_order_msg
if json_file is None:
json_file = os.path.join(pkg_path, "data/apc-a.json")
# for original work order
work_order = list(get_work_order(json_file))
self.assertEqual(len(work_order), len("abcdefghijkl"))
object_list = jsk_2015_apc_common.data.object_list()
for bin_, object_ in work_order:
self.assertIn(bin_, "abcdefghijkl")
self.assertIn(object_, object_list)
# for sorted work order
sorted_work_order = list(get_sorted_work_order(json_file))
self.assertEqual(len(sorted_work_order), len("abcdefghijkl"))
for bin_, object_ in sorted_work_order:
self.assertIn(bin_, "abcdefghijkl")
self.assertIn(object_, object_list)
# for msg
msg = get_work_order_msg(json_file)
self.assertEqual(len(msg["left"].array), 8)
self.assertEqual(len(msg["right"].array), 4)
for lr in ("left", "right"):
for order in msg[lr].array:
self.assertIn(order.bin, "abcdefghijkl")
self.assertIn(order.object, object_list)
def test_work_order(self, json_file=None):
from work_order import (
get_work_order,
get_sorted_work_order,
get_work_order_msg,
)
if json_file is None:
json_file = os.path.join(pkg_path, 'data/apc-a.json')
# for original work order
work_order = list(get_work_order(json_file))
self.assertEqual(len(work_order), len('abcdefghijkl'))
object_list = jsk_apc2015_common.data.object_list()
for bin_, object_ in work_order:
self.assertIn(bin_, 'abcdefghijkl')
self.assertIn(object_, object_list)
# for sorted work order
sorted_work_order = list(get_sorted_work_order(json_file))
self.assertEqual(len(sorted_work_order), len('abcdefghijkl'))
for bin_, object_ in sorted_work_order:
self.assertIn(bin_, 'abcdefghijkl')
self.assertIn(object_, object_list)
# for msg
msg = get_work_order_msg(json_file)
self.assertEqual(len(msg['left'].array), 8)
self.assertEqual(len(msg['right'].array), 4)
for lr in ('left', 'right'):
for order in msg[lr].array:
self.assertIn(order.bin, 'abcdefghijkl')
self.assertIn(order.object, object_list)
def main():
json_file = rospy.get_param('~json', None)
if json_file is None:
rospy.logerr('must set json file path to ~json')
return
work_order = get_sorted_work_order(json_file=json_file)
first_orders = dict(left='', right='')
for bin_, _ in work_order:
if bin_ in 'abdeghjk' and first_orders['left'] == '':
first_orders['left'] = bin_
elif bin_ in 'cfil' and first_orders['right'] == '':
first_orders['right'] = bin_
elif first_orders['left'] == '' and first_orders['right'] == '':
break
rospy.set_param('/left_process/target', first_orders['left'])
rospy.set_param('/right_process/target', first_orders['right'])
rospy.set_param('/left_process/state', 'wait_for_user_input')
rospy.set_param('/right_process/state', 'wait_for_user_input')
rospy.set_param('/total_score', 0)
# wait for rqt_yn_btn
wait_for_rqt_yn_btn = True
while wait_for_rqt_yn_btn and (not rospy.is_shutdown()):
try:
rospy.wait_for_service('/rqt_yn_btn', timeout=10)
wait_for_rqt_yn_btn = False
except rospy.ROSException, e:
rospy.logerr('timeout for /rqt_yn_btn: {0}'.format(e))
rospy.sleep(1)
