test_cluedo_oracle.py

Go to the documentation of this file.

#! /usr/bin/env python
 
"""! @file test_cluedo_oracle.py
 
@brief testing the node cluedo_oracle.cpp
 
@authors Francesco Ganci (S4143910)
@version v1.0
 
Simple test for the hint request in cluedo_oracle.cpp: perform the 
request 25 times. 
 
@see test_cluedo_oracle.launch launch file for the test
 
"""
 
import rospy
from robocluedo_msgs.srv import CheckSolution, CheckSolutionRequest, CheckSolutionResponse
from std_msgs.msg import Empty
from robocluedo_msgs.msg import Hint
 
 
 
 
client_name_check_solution = "/check_solution"
client_check_solution = None
 
publisher_name_hint_sig = "/hint_signal"
publisher_hint_sig = None
 
subscriber_name_hint = "/hint"
 
 
 
 
test_name = "test_cluedo_oracle"
 
 
def callback_hint( hint ):
    global hint_idx
    global received
    
    rospy.loginfo( "[%s] (number %d) received: HP%d(%s:%s)", test_name, hint_idx, hint.HintID, hint.HintType, hint.HintContent )
 
 
 
 
hint_idx = 0
received = False
def perform_tests( ):
    global publisher_name_hint_sig
    global client_check_solution
    global hint_idx
    
    # rospy.loginfo( "number 1: hint system" )
    
    for hintno in range( 25 ):
        rospy.loginfo( "[%s] sending signal %d ...", test_name, hint_idx )
        publisher_hint_sig.publish( Empty( ) )
        hint_idx = hint_idx + 1
        rospy.sleep( rospy.Duration( 0.2 ) )
    
    pass
 
 
 
 
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 )
    
    # client : check solution
    rospy.loginfo( "[%s] asking for service [%s] ...", test_name, client_name_check_solution )
    rospy.wait_for_service( client_name_check_solution )
    client_check_solution = rospy.ServiceProxy( client_name_check_solution, CheckSolution )
    rospy.loginfo( "[%s] OK!", test_name )
    
    # publisher : hint signal
    rospy.loginfo( "[%s] opening publisher to topic [%s] ...", test_name, publisher_name_hint_sig )
    publisher_hint_sig = rospy.Publisher( publisher_name_hint_sig, Empty, queue_size=1 )
    rospy.loginfo( "[%s] OK!", test_name )
    
    # subscriber : hint
    rospy.loginfo( "[%s] subscribing to topic [%s] ...", test_name, subscriber_name_hint )
    # rospy.wait_for_message( subscriber_name_hint, Hint )
    rospy.Subscriber( subscriber_name_hint, Hint, callback_hint )
    rospy.loginfo( "[%s] OK!", test_name )
    
    main( )