[sample/SampleRobot/samplerobot_auto_balancer.py] add assert to check…

… success of setting default_zmp_offsets
snozawa · Aug 28, 2015 · c94cac5 · c94cac5
1 parent 9f727de
commit c94cac5
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/sample/SampleRobot/samplerobot_auto_balancer.py b/sample/SampleRobot/samplerobot_auto_balancer.py
@@ -77,12 +77,14 @@ def demoAutoBalancerSetParam():
  abcp=hcf.abc_svc.getAutoBalancerParam()[1]
  abcp.default_zmp_offsets = [[0.1,0,0], [0.1,0,0]]
  hcf.abc_svc.setAutoBalancerParam(abcp)
- ret=hcf.abc_svc.getAutoBalancerParam()
- if ret[0] and ret[1].default_zmp_offsets == abcp.default_zmp_offsets:
- print >> sys.stderr, " setAutoBalancerParam() => OK"
  print >> sys.stderr, " default_zmp_offsets setting check in start and stop"
  hcf.startAutoBalancer();
  hcf.stopAutoBalancer();
+ ret=hcf.abc_svc.getAutoBalancerParam()
+ flag = (ret[0] and ret[1].default_zmp_offsets == abcp.default_zmp_offsets)
+ if flag:
+ print >> sys.stderr, " setAutoBalancerParam() => OK"
+ assert (flag)
  abcp.default_zmp_offsets = [[0,0,0], [0,0,0]]
  hcf.abc_svc.setAutoBalancerParam(abcp)