add test-samplerobot-emergency.py and test EmergencyStopper in test-s…

…amplerobot.test
snozawa · Jul 26, 2015 · 70f68b2 · 70f68b2
1 parent c33d891
commit 70f68b2
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Showing 3 changed files with 34 additions and 6 deletions.
diff --git a/sample/SampleRobot/samplerobot_emergency_stopper.py b/sample/SampleRobot/samplerobot_emergency_stopper.py
@@ -14,12 +14,14 @@
  import time
 
 def init ():
- global hcf, init_pose, reset_pose
+ global hcf, init_pose, reset_pose, hrpsys_version
  hcf = HrpsysConfigurator()
  hcf.getRTCList = hcf.getRTCListUnstable
  hcf.init ("SampleRobot(Robot)0", "$(PROJECT_DIR)/../model/sample1.wrl")
  init_pose = [0]*29
  reset_pose = [0.0,-0.772215,0.0,1.8338,-1.06158,0.0,0.523599,0.0,0.0,-2.44346,0.15708,-0.113446,0.637045,0.0,-0.772215,0.0,1.8338,-1.06158,0.0,0.523599,0.0,0.0,-2.44346,-0.15708,-0.113446,-0.637045,0.0,0.0,0.0]
+ hrpsys_version = hcf.seq.ref.get_component_profile().version
+ print("hrpsys_version = %s"%hrpsys_version)
 
 def angleDistance (angle1, angle2):
  return sum([abs(i-j) for (i,j) in zip(angle1,angle2)])
@@ -101,11 +103,12 @@ def demoEmergencyStopReleaseWhenDeactivated():
 
 def demo(key_interaction=False):
  init()
- if key_interaction:
- demoEmergencyStopWithKeyInteracton()
- else:
- demoEmergencyStop()
- demoEmergencyStopReleaseWhenDeactivated()
+ if hrpsys_version >= '315.6.0':
+ if key_interaction:
+ demoEmergencyStopWithKeyInteracton()
+ else:
+ demoEmergencyStop()
+ demoEmergencyStopReleaseWhenDeactivated()
 
 if __name__ == '__main__':
  demo()
diff --git a/test/test-samplerobot-emergency.py b/test/test-samplerobot-emergency.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+import imp, sys, os, time
+
+# set path to hrpsys to use HrpsysConfigurator
+from subprocess import check_output
+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
+
+if __name__ == '__main__':
+ 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)
+
+
+
+
+
+
diff --git a/test/test-samplerobot.test b/test/test-samplerobot.test
@@ -24,4 +24,6 @@
  args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" retry="2"/>
  <test test-name="samplerobot_abc" pkg="hrpsys" type="test-samplerobot-abc.py"
  args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" retry="2" time-limit="600"/>
+ <test test-name="samplerobot_es" pkg="hrpsys" type="test-samplerobot-emergency.py"
+ args="-ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService" retry="2"/>
 </launch>