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remove checking for strings

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Sem van der Hoeven
2023-06-08 00:09:35 +02:00
parent 328f439270
commit 9a207dabcc
1 changed files with 4 additions and 12 deletions
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16
src/drone_controls/test/test_positionchanger.py
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@@ -57,22 +57,14 @@ class TestPositionChanger(unittest.TestCase):
def setUp(self):
self.node = rclpy.create_node('test_positionchanger')
self.called_positionchanger_service = False
self.received_failsafe_callback = False
self.failsafe_reason_timeout = "No healthy connection to LIDAR! Check the LIDAR USB cable and restart the drone."
self.failsafe_reason_nodata = "Waiting for LIDAR timed out! Check the LIDAR USB connection and consider restarting the drone."
self.received_failsafe_callback = False
def tearDown(self):
self.node.destroy_node()
def failsafe_callback_nodata(self,msg):
def failsafe_callback(self,msg):
self.assertTrue(msg.enabled, "Failsafe was not enabled!")
self.assertEqual(msg.msg,self.failsafe_reason_nodata, "Failsafe message was not correct!")
self.received_failsafe_callback = True
def failsafe_callback_timeout(self,msg):
self.assertTrue(msg.enabled, "Failsafe was not enabled!")
self.assertEqual(msg.msg,self.failsafe_reason_timeout, "Failsafe message was not correct!")
self.received_failsafe_callback = True
def move_position_callback(self,future):
@@ -82,7 +74,7 @@ class TestPositionChanger(unittest.TestCase):
def test_positionchanger_no_lidar_data(self,positionchanger_node,proc_output):
self.received_failsafe_callback = False
self.called_positionchanger_service = False
failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback_nodata,10)
failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback,10)
move_position_client = self.node.create_client(MovePosition,'/drone/move_position')
while not move_position_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('move_position service not available, waiting again...')
@@ -116,7 +108,7 @@ class TestPositionChanger(unittest.TestCase):
self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_stops")
self.received_failsafe_callback = False
self.called_positionchanger_service = False
failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback_timeout,10)
failsafe_subscriber = self.node.create_subscription(FailsafeMsg,'/drone/failsafe',self.failsafe_callback,10)
lidar_publisher = self.node.create_publisher(LidarReading,'/drone/object_detection',10)
move_position_client = self.node.create_client(MovePosition,'/drone/move_position')