Update samplerobot python unittest

.travis.sh

@@ -386,7 +386,12 @@ case $TEST_PACKAGE in
  rostest $test_file && travis_time_end || export TMP_EXIT_STATUS=$?
  if [ "$TMP_EXIT_STATUS" != 0 ]; then
  export EXIT_STATUS=$TMP_EXIT_STATUS
+ # Print results of rostest-*.xml files
  find ~/.ros/test_results -type f -iname "*`basename $test_file .test`.xml" -print -exec echo "=== {} ===" \; -exec cat {} \;
+ # Print results of each rosunit-*.xml file
+ # Get rosunit*.xml file path from rostest-*.xml file by usig awk and cut.
+ # Files are assumed to include "xxx results are in [/home/xxx/rosunit-yy.xml]"
+ cat $(find ~/.ros/test_results -type f -iname "*`basename $test_file .test`.xml" -print -exec echo "=== {} ===" \; -exec cat {} \; | grep "results are in" | awk -F'results are in ' '{print $2}' | cut -d\[ -f2 | cut -d\] -f1)
  travis_time_end 31
  fi
  done

sample/SampleRobot/samplerobot_sequence_player.py

@@ -66,19 +66,19 @@ def checkJointAngles (var_doc):
  p = var_doc
  else:
  p = var_doc['pos']
- ret = checkArrayEquality(rtm.readDataPort(hcf.sh.port("qOut")).data, p)
+ ret = checkArrayEquality(hcf.sh_svc.getCommand().jointRefs, p)
  print " pos => ", ret
 
 def checkJointAnglesBetween(from_doc, to_doc):
  p0 = from_doc if isinstance(from_doc, list) else from_doc['pos']
  p1 = to_doc if isinstance( to_doc, list) else to_doc['pos']
- ret = checkArrayBetween(p0, rtm.readDataPort(hcf.sh.port("qOut")).data, p1)
+ ret = checkArrayBetween(p0, hcf.sh_svc.getCommand().jointRefs, p1)
  print " pos => ", ret
  assert(ret is True)
 
 def checkZmp(var_doc):
- zmp=rtm.readDataPort(hcf.sh.port("zmpOut")).data
- ret = checkArrayEquality([zmp.x, zmp.y, zmp.z], var_doc['zmp'])
+ zmp=hcf.sh_svc.getCommand().zmp
+ ret = checkArrayEquality([zmp[0], zmp[1], zmp[2]], var_doc['zmp'])
  print " zmp => ", ret
  assert(ret is True)
 

test/test-samplerobot-abc.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_auto_balancer
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_auto_balancer.demo()
+class TestSampleRobotAutoBalancer(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_auto_balancer.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_auto_balancer', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_auto_balancer', TestSampleRobotAutoBalancer, sys.argv)
 
 
 

test/test-samplerobot-collision.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_collision_detector
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_collision_detector.demo()
+class TestSampleRobotCollisionDetector(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_collision_detector.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_collision_detector', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_collision_detector', TestSampleRobotCollisionDetector, sys.argv)
 
 
 

test/test-samplerobot-datalogger.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_data_logger
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_data_logger.demo()
+class TestSampleRobotDataLogger(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_data_logger.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_data_logger', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_data_logger', TestSampleRobotDataLogger, sys.argv)
 
 
 

test/test-samplerobot-el.py

@@ -7,14 +7,16 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_soft_error_limiter
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_soft_error_limiter.demo()
+class TestSampleRobotSoftErrorLimiter(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_soft_error_limiter.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
  import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_soft_error_limiter', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_soft_error_limiter', TestSampleRobotSoftErrorLimiter, sys.argv)
 
 
 

test/test-samplerobot-emergency.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_emergency_stopper
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_emergency_stopper.demo()
+class TestSampleRobotEmergencyStopper(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_emergency_stopper.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_emergency_stopper', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_emergency_stopper', TestSampleRobotEmergencyStopper, sys.argv)
 
 
 

test/test-samplerobot-kf.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_kalman_filter
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_kalman_filter.demo()
+class TestSampleRobotKalmanFilter(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_kalman_filter.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_kalman_filter', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_kalman_filter', TestSampleRobotKalmanFilter, sys.argv)
 
 
 

test/test-samplerobot-rmfo.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_remove_force_offset
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_remove_force_offset.demo()
+class TestSampleRobotRemoveForceOffset(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_remove_force_offset.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_remove_force_offset', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_remove_force_offset', TestSampleRobotRemoveForceOffset, sys.argv)
 
 
 

test/test-samplerobot-sequence.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_sequence_player
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_sequence_player.demo()
+class TestSampleRobotSequencePlayer(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_sequence_player.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_sequence_player', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_sequence_player', TestSampleRobotSequencePlayer, sys.argv)
 
 
 

test/test-samplerobot-st.py

@@ -7,14 +7,15 @@
 sys.path.append(os.path.join(check_output(['pkg-config', 'hrpsys-base', '--variable=prefix']).rstrip(),'share/hrpsys/samples/SampleRobot/')) # set path to SampleRobot
 
 import samplerobot_stabilizer
+import unittest, rostest
 
-if __name__ == '__main__':
- samplerobot_stabilizer.demo()
+class TestSampleRobotStabilizer(unittest.TestCase):
+ def test_demo (self):
+ samplerobot_stabilizer.demo()
 
 ## IGNORE ME: this code used for rostest
 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
- import unittest, rostest
- rostest.run('hrpsys', 'samplerobot_stabilizer', unittest.TestCase, sys.argv)
+ rostest.run('hrpsys', 'samplerobot_stabilizer', TestSampleRobotStabilizer, sys.argv)