62 lines
2.1 KiB
Python
62 lines
2.1 KiB
Python
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#!/usr/bin/env python3
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# import os
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import unittest
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from unittest.mock import patch, MagicMock
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# import rclpy
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# from rclpy.executors import SingleThreadedExecutor
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from rbs_utils.recording_demo import recording_demo, CommandType
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import launch
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import launch_ros
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import launch_testing
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import launch_testing.actions
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# import launch_testing.asserts
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import pytest
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@pytest.mark.rostest
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def generate_test_description():
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test_node = launch_ros.actions.Node(
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package="rbs_bt_executor",
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executable="rbs_interface.py",
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output="screen"
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# parameters = [{"bt_path": skills_cfg_file},{"mode": mode},{"use_sim_time": True}]
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)
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return launch.LaunchDescription([
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test_node,
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launch_testing.actions.ReadyToTest(),
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]), { 'test_node': test_node }
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class TestRecordingDemo(unittest.TestCase):
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def setUp(self):
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# Предполагается, что ROS 2 окружение запущено
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pass
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def test_run_command_returns_bool(self):
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with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
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mock_client_instance = MockClient.return_value
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mock_client_instance.res_ok = True
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mock_client_instance.send_goal = MagicMock()
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result = recording_demo(CommandType.RUN)
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self.assertTrue(result)
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mock_client_instance.send_goal.assert_called_with(
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sid=unittest.mock.ANY, action="RecordingDemo", command="rdConfigure")
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def test_stop_and_cancel_triggers_stop(self):
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with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
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mock_client_instance = MockClient.return_value
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mock_client_instance.res_ok = True
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mock_client_instance.send_goal = MagicMock()
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result = recording_demo(CommandType.STOP_AND_CANCEL)
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self.assertTrue(result)
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mock_client_instance.send_goal.assert_called_with(
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sid=unittest.mock.ANY, action="RecordingDemo", command="rdStop")
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def test_invalid_command_returns_false(self):
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result = recording_demo("nonexistent_command")
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self.assertFalse(result)
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