test_cluedo_armor_interface.py

Go to the documentation of this file.

#! /usr/bin/env python
 
"""! @file test_cluedo_armor_interface.py
 
@brief testing the node cluedo_armor_interface.cpp
 
@authors Francesco Ganci (S4143910)
@version v1.0
 
This node implements a simple test for the node cluedo_armor_interface.cpp :
try a simple reasoning process using the interface. 
 
@see test_cluedo_armor_interface.launch launch file for the test
 
"""
 
import rospy
from robocluedo_msgs.srv import AddHint, AddHintRequest, AddHintResponse
from robocluedo_msgs.srv import FindConsistentHypotheses, FindConsistentHypothesesRequest, FindConsistentHypothesesResponse
from robocluedo_msgs.msg import Hypothesis
from robocluedo_msgs.srv import DiscardHypothesis, DiscardHypothesisRequest, DiscardHypothesisResponse
from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
 
client_name_add_hint = "/cluedo_armor/add_hint"
client_add_hint = None
 
client_name_find_consistent_h = "/cluedo_armor/find_consistent_h"
client_find_consistent_h = None
 
client_name_wrong_h = "/cluedo_armor/wrong_hypothesis"
client_wrong_h = None
 
client_name_backup = "/cluedo_armor/backup"
client_backup = None
 
 
test_name = "test_cluedo_armor_interface"
 
def perform_tests( ):
    global client_add_hint
    global client_find_consistent_h
    global client_wrong_h
    global client_backup
    
    rospy.loginfo( "[%s] formulating hypothesis : %s(where:%s, what:%s, who:%s)", test_name, "HP1", "study", "knife", "mark" )
    client_add_hint( 1, "where", "HP1", "study" )
    client_add_hint( 1, "what", "HP1", "knife" )
    client_add_hint( 1, "who", "HP1", "mark" )
    
    rospy.loginfo( "[%s] expected 1 consistent hypothesis", test_name )
    rospy.loginfo( "[%s] asking for consistent hypotheses... ", test_name )
    hplist = client_find_consistent_h( ).hyp
    rospy.loginfo( "[%s] received size : %d ", test_name, len(hplist) )
    rospy.loginfo( "[%s] -> %s(where:%s, what:%s, who:%s)", test_name, hplist[0].tag, hplist[0].where, hplist[0].what, hplist[0].who )
    
    rospy.loginfo( "[%s] discarding the hypothesis... ", test_name )
    wrong_h_msg = DiscardHypothesisRequest( )
    wrong_h_msg.hypothesisTag = hplist[0].tag
    client_wrong_h( wrong_h_msg )
    rospy.loginfo( "[%s] asking again for consistent hypotheses... ", test_name )
    hplist = client_find_consistent_h( ).hyp
    rospy.loginfo( "[%s] received size (expected 0) : %d ", test_name, len(hplist) )
    
    rospy.loginfo( "[%s] saving ontology... ", test_name )
    client_backup( )
    rospy.loginfo( "[%s] OK!", test_name )
 
 
 
 
def main( ):
    # global 
    
    # altre operazioni utili prima di iniziare i test...
    
    perform_tests( )
 
 
 
 
def on_shut_msg( ):
    rospy.loginfo( "[%s] closing...", test_name )
 
 
 
 
if __name__ == "__main__":
    rospy.init_node( test_name )
    rospy.on_shutdown( on_shut_msg )
    
    # service : add hint
    rospy.loginfo( "[%s] asking for service [%s] ...", test_name, client_name_add_hint )
    rospy.wait_for_service( client_name_add_hint )
    client_add_hint = rospy.ServiceProxy( client_name_add_hint, AddHint )
    rospy.loginfo( "[%s] OK!", test_name )
    
    # service : find consistent hypotheses
    rospy.loginfo( "[%s] asking for service [%s] ...", test_name, client_name_find_consistent_h )
    rospy.wait_for_service( client_name_find_consistent_h )
    client_find_consistent_h = rospy.ServiceProxy( client_name_find_consistent_h, FindConsistentHypotheses )
    rospy.loginfo( "[%s] OK!", test_name )
    
    # service : wrong hypothesis
    rospy.loginfo( "[%s] asking for service [%s] ...", test_name, client_name_wrong_h )
    rospy.wait_for_service( client_name_wrong_h )
    client_wrong_h = rospy.ServiceProxy( client_name_wrong_h, DiscardHypothesis )
    rospy.loginfo( "[%s] OK!", test_name )
    
    # service : backup
    rospy.loginfo( "[%s] asking for service [%s] ...", test_name, client_name_backup )
    rospy.wait_for_service( client_name_backup )
    client_backup = rospy.ServiceProxy( client_name_backup, Trigger )
    rospy.loginfo( "[%s] OK!", test_name )
    
    main( )