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How to use test_robot method in robotframework-pageobjects

Best Python code snippet using robotframework-pageobjects_python

test_system_node.py

Source:test_system_node.py

1#! /usr/bin/env python32# Copyright 2018 Intel Corporation.3#4# Licensed under the Apache License, Version 2.0 (the "License");5# you may not use this file except in compliance with the License.6# You may obtain a copy of the License at7#8#     http://www.apache.org/licenses/LICENSE-2.09#10# Unless required by applicable law or agreed to in writing, software11# distributed under the License is distributed on an "AS IS" BASIS,12# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.13# See the License for the specific language governing permissions and14# limitations under the License.15import math16import sys17import time18from geometry_msgs.msg import Pose19from geometry_msgs.msg import PoseStamped20from geometry_msgs.msg import PoseWithCovarianceStamped21import rclpy22from rclpy.node import Node23class NavTester(Node):24    def __init__(self):25        super().__init__('nav2_tester')26        self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped,27                                                      'initialpose')28        self.goal_pub = self.create_publisher(PoseStamped, 'move_base_simple/goal')29        self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped,30                                                       '/amcl_pose', self.poseCallback)31        self.initial_pose_received = False32    def setInitialPose(self, pose):33        self.initial_pose = pose34        self.currentPose = pose35        self.setNavstackInitialPose(pose)36    def setNavstackInitialPose(self, pose):37        msg = PoseWithCovarianceStamped()38        msg.pose.pose = pose39        msg.header.frame_id = 'map'40        self.get_logger().info('Publishing Initial Pose')41        self.initial_pose_pub.publish(msg)42    def setGoalPose(self, pose):43        self.goal_pose = pose44        msg = PoseStamped()45        msg.header.frame_id = 'map'46        msg.pose = pose47        self.goal_pub.publish(msg)48    def poseCallback(self, msg):49        self.get_logger().info('Received amcl_pose')50        self.current_pose = msg.pose.pose51        self.initial_pose_received = True52    def reachesGoal(self, timeout):53        goalReached = False54        start_time = time.time()55        while not goalReached:56            rclpy.spin_once(self, timeout_sec=1)57            if self.distanceFromGoal() < 0.50:  # get within 50cm of goal58                goalReached = True59                self.get_logger().info('*** GOAL REACHED ***')60                return True61            elif timeout is not None:62                if (time.time() - start_time) > timeout:63                    self.get_logger().error('Robot timed out reaching its goal!')64                    return False65    def distanceFromGoal(self):66        d_x = self.current_pose.position.x - self.goal_pose.position.x67        d_y = self.current_pose.position.y - self.goal_pose.position.y68        distance = math.sqrt(d_x * d_x + d_y * d_y)69        self.get_logger().info('Distance from goal is: ' + str(distance))70        return distance71    def setSimTime(self):72        self.get_logger().info('Setting transforms to use sim time from gazebo')73        from subprocess import call74        # loop through the problematic nodes75        for nav2_node in ('/static_transform_publisher', '/map_server',76                          '/global_costmap/global_costmap', '/local_costmap/local_costmap'):77            while (call(['ros2', 'param', 'set', nav2_node, 'use_sim_time', 'True'])):78                self.get_logger().error("Error couldn't set use_sim_time param on: " +79                                        nav2_node + ' retrying...')80def test_InitialPose(test_robot, timeout):81    # Set initial pose to the Turtlebot3 starting position -2, 0, 0, facing towards positive X82    initial_pose = Pose()83    initial_pose.position.x = -2.084    initial_pose.position.y = -0.585    initial_pose.position.z = 0.0186    initial_pose.orientation.x = 0.087    initial_pose.orientation.y = 0.088    initial_pose.orientation.z = 0.089    initial_pose.orientation.w = 1.090    test_robot.get_logger().info('Setting initial pose')91    test_robot.initial_pose_received = False92    test_robot.setInitialPose(initial_pose)93    quit_time = time.time() + timeout94    test_robot.get_logger().info('Waiting for initial pose to be received')95    while not test_robot.initial_pose_received and time.time() < quit_time:96        rclpy.spin_once(test_robot)  # wait for poseCallback97    if (test_robot.initial_pose_received):98        test_robot.get_logger().info('test_InitialPose PASSED')99    else:100        test_robot.get_logger().info('test_InitialPose FAILED')101    return test_robot.initial_pose_received102def test_RobotMovesToGoal(test_robot):103    goal_pose = Pose()104    goal_pose.position.x = 0.0105    goal_pose.position.y = 2.0106    goal_pose.position.z = 0.01107    goal_pose.orientation.x = 0.0108    goal_pose.orientation.y = 0.0109    goal_pose.orientation.z = 0.0110    goal_pose.orientation.w = 1.0111    test_robot.get_logger().info('Setting goal pose')112    test_robot.setGoalPose(goal_pose)113    test_robot.get_logger().info('Waiting 30 seconds for robot to reach goal')114    return test_robot.reachesGoal(timeout=30)115def test_all(test_robot):116    # set transforms to use_sim_time117    test_robot.setSimTime()118    result = True119    if (result):120        result = test_InitialPose(test_robot, 10)121    if (result):122        result = test_RobotMovesToGoal(test_robot)123    if (not result):124        # retry the test one more time125        test_robot.get_logger().info('Test failed, retrying...')126        result = test_RobotMovesToGoal(test_robot)127    # Add more tests here if desired128    return result129def main(argv=sys.argv[1:]):130    rclpy.init()131    test_robot = NavTester()132    test_robot.get_logger().info('Starting test_system_node')133    # wait a few seconds to make sure entire stack is up and running134    test_robot.get_logger().info('Waiting for a few seconds for all nodes to initialize')135    time.sleep(5)136    # run tests137    result = test_all(test_robot)138    if (result):139        test_robot.get_logger().info('Test PASSED')140        return141    else:142        test_robot.get_logger().error('Test FAILED')143        exit(1)144if __name__ == '__main__':...

test_robot.py

Source:test_robot.py

1from robot import ToyRobot2from ToyRobotError import ToyRobotError3import unittest4from face import Face5class TestRobot(unittest.TestCase):6    def setUp(self) -> None:7        self.test_robot = ToyRobot()8    def test_initialise(self):9        self.test_robot = ToyRobot()10        # Test that the robot doesn't have any coordinates11        self.assertIsNone(self.test_robot.get_x_value())12        self.assertIsNone(self.test_robot.get_y_value())13        # Test that the robot is not facing any direction14        self.assertIsNone(self.test_robot.get_face_value())15    def test_is_placed(self):16        self.test_robot = ToyRobot()17        # Test that the robot is not placed when created18        self.assertFalse(self.test_robot.is_placed())19        # Place the robot20        self.test_robot.place(0, 0, Face.NORTH)21        # Test that the robot is placed22        self.assertTrue(self.test_robot.is_placed())23    def test_place(self):24        # Initialise a robot25        self.test_robot = ToyRobot()26        # Place the robot with valid values27        self.test_robot.place(0, 0, Face.NORTH)28        # Test the coordinates and direction of the robot29        self.assertEqual(self.test_robot.get_x_value(), 0)30        self.assertEqual(self.test_robot.get_y_value(), 0)31        self.assertEqual(self.test_robot.get_face_value(), Face.NORTH)32        # Test negative values for position raises ValueError33        with self.assertRaises(ToyRobotError):34            self.test_robot.place(-1, 0, Face.NORTH)35        with self.assertRaises(ToyRobotError):36            self.test_robot.place(0, -1, Face.NORTH)37        # Test non-enum values of Face raises TypeError38        with self.assertRaises(ToyRobotError):39            self.test_robot.place(0, 0, "NORTH")40    def test_left(self):41        # Initialise a robot42        self.test_robot = ToyRobot()43        # Place the robot44        self.test_robot.place(0, 0, Face.SOUTH)45        # Test left movements46        self.test_robot.left()47        self.assertEqual(self.test_robot.get_face_value(), Face.EAST)48        self.test_robot.left()49        self.assertEqual(self.test_robot.get_face_value(), Face.NORTH)50        self.test_robot.left()51        self.assertEqual(self.test_robot.get_face_value(), Face.WEST)52        self.test_robot.left()53        self.assertEqual(self.test_robot.get_face_value(), Face.SOUTH)54    def test_right(self):55        # Initialise a robot56        self.test_robot = ToyRobot()57        # Place the robot58        self.test_robot.place(0, 0, Face.SOUTH)59        # Test right movements60        self.test_robot.right()61        self.assertEqual(self.test_robot.get_face_value(), Face.WEST)62        self.test_robot.right()63        self.assertEqual(self.test_robot.get_face_value(), Face.NORTH)64        self.test_robot.right()65        self.assertEqual(self.test_robot.get_face_value(), Face.EAST)66        self.test_robot.right()67        self.assertEqual(self.test_robot.get_face_value(), Face.SOUTH)68    def test_move(self):69        # Initialise a robot70        self.test_robot = ToyRobot()71        # Place the robot72        self.test_robot.place(0, 0, Face.NORTH)73        # Move the robot one step north and check y coordinate74        self.test_robot.move()75        self.assertEqual(self.test_robot.get_y_value(), 1)76        # Turn right, move one step and check x coordinate77        self.test_robot.right()78        self.test_robot.move()79        self.assertEqual(self.test_robot.get_x_value(), 1)80        # Place robot and check movement backwards on grid81        self.test_robot.place(1, 1, Face.NORTH)82        self.test_robot.left()83        self.test_robot.move()84        self.assertEqual(self.test_robot.get_x_value(), 0)85        self.test_robot.place(1, 1, Face.WEST)86        self.test_robot.left()87        self.test_robot.move()88        self.assertEqual(self.test_robot.get_y_value(), 0)89    def test_str(self):90        # Initialise and place the robot91        self.test_robot = ToyRobot()92        self.test_robot.place(0, 0, Face.NORTH)93        # Check if the str returns the correct string94        self.assertEqual(str(self.test_robot), "0,0,NORTH")95        # Rotate right and test the correct string96        self.test_robot.right()97        self.assertEqual(str(self.test_robot), "0,0,EAST")98        # Move and test the correct string99        self.test_robot.move()100        self.assertEqual(str(self.test_robot), "1,0,EAST")101if __name__ == '__main__':...

main.py

Source:main.py

...5from Utilities import *6from Experiments import *7if __name__ == "__main__":8    # Part 49    # test_robot(BreadthFirstSearchRobot, [0, 1, 2, 3, 4, 5])10    # Part 511    # test_robot(UniformCostSearchRobot, [0, 1, 2, 3, 4, 5])12    # Part 713    # test_robot(WAStartRobot, [0, 1, 2, 3, 4, 5], heuristic=tail_manhattan_heuristic)14    # Part 815    # test_robot(WAStartRobot, [99], heuristic=tail_manhattan_heuristic)16    # a = solve_and_display(WAStartRobot, 99, blit=True, heuristic=tail_manhattan_heuristic)17    # a = solve_and_display(WAStartRobot, 5, blit=True, heuristic=center_manhattan_heuristic)18    # b = solve_and_display(BreadthFirstSearchRobot, 3)19    for i in range(3):20        w_experiment(i)21    # w_values = [0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1]22    # for w in w_values:23    #     a = solve_and_display(WAStartRobot, 2, heuristic=center_manhattan_heuristic, w=w, blit=False)24    # for k in [2, 4, 6, 8]:25    #     test_robot(WAStartRobot, [3, 4], heuristic=ShorterRobotHeuristic, k=k)26    # test_robot(WAStartRobot, [3, 4], heuristic=center_manhattan_heuristic)27    # test_robot(WAStartRobot, [0, 1, 2, 3, 4, 5], heuristic=center_manhattan_heuristic)28    # for k in [2, 4, 6, 8]:29    #     test_robot(WAStartRobot, [0, 1, 2, 3, 4, 5], heuristic=ShorterRobotHeuristic, k=k)30    for i in range(2,6):31        shorter_robot_heuristic_experiment(i)32    # a = solve_and_display(WAStartRobot, 50, heuristic=center_manhattan_heuristic, w=0.5, blit=False)33    # b = solve_and_display(WAStartRobot, 50, heuristic=ShorterRobotHeuristic, k=2, blit=False)34    # a = solve_and_display(WAStartRobot, 95, heuristic=center_manhattan_heuristic, w=0.5, blit=False)35    # b = solve_and_display(WAStartRobot, 95, heuristic=ShorterRobotHeuristic, k=2, blit=False)36    # w_experiment(50)...

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