Merge pull request #955 from tue-robotics/feature/import_test

robot_skills: add import and doctest test

robot_skills/CMakeLists.txt

@@ -32,21 +32,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-# ------------------------------------------------------------------------------------------------
-#                                          CATKIN EXPORT
-# ------------------------------------------------------------------------------------------------
+catkin_package()
 
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES bla
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
-# ------------------------------------------------------------------------------------------------
-#                                              BUILD
-# ------------------------------------------------------------------------------------------------
-
-include_directories(
-    ${catkin_INCLUDE_DIRS}
-)
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_nosetests(test)
+endif()

robot_skills/package.xml

@@ -26,6 +26,7 @@
   <depend>hmi</depend>
   <depend>hmi_msgs</depend>
   <depend>people_recognition_msgs</depend>
+  <depend>python_orocos_kdl</depend>
   <depend>rgbd_msgs</depend>
   <depend>rospy</depend>
   <depend>smach</depend>
@@ -38,5 +39,7 @@
   <depend>visualization_msgs</depend>
 
   <exec_depend>python-mock</exec_depend>
+
+  <test_depend>test_tools</test_depend>
 
 </package>

robot_skills/src/robot_skills/arms.py

@@ -324,12 +324,12 @@ class Arm(RobotPart):
     Use left or right to get arm while running from the python console
 
     Examples:
-    >>> left.send_goal(0.265, 1, 0.816, 0, 0, 0, 60)
+    >>> left.send_goal(0.265, 1, 0.816, 0, 0, 0, 60)  # doctest: +SKIP
     or Equivalently:
-    >>> left.send_goal(px=0.265, py=1, pz=0.816, yaw=0, pitch=0, roll=0, time_out=60, pre_grasp=False, frame_id='/amigo/base_link')
+    >>> left.send_goal(px=0.265, py=1, pz=0.816, yaw=0, pitch=0, roll=0, time_out=60, pre_grasp=False, frame_id='/amigo/base_link')  # doctest: +SKIP
 
     #To open left gripper
-    >>> left.send_gripper_goal_open(10)
+    >>> left.send_gripper_goal_open(10)  # doctest: +SKIP
     """
     def __init__(self, robot_name, tf_listener, get_joint_states, side):
         """

robot_skills/src/robot_skills/hero.py

@@ -111,10 +111,3 @@ def move_to_hmi_pose(self):
             arm.send_joint_goal('arm_out_of_way', 0.0)
             self.base.force_drive(0, 0, rotation_speed, rotation_duration)
         arm.wait_for_motion_done()
-
-
-if __name__ == "__main__":
-    rospy.init_node("hero")
-
-    import doctest
-    doctest.testmod()

robot_skills/src/robot_skills/mockbot.py

@@ -307,10 +307,10 @@ class Mockbot(robot.Robot):
     which wont be needed
 
     # I want a blind and mute Mockbot!
-    >>> Mockbot(['perception', 'speech'])
+    >>> Mockbot(['perception', 'speech'])  # doctest: +SKIP
 
     # I want a full fledged, awesome Mockbot
-    >>> Mockbot()
+    >>> Mockbot()  # doctest: +SKIP
     """
     def __init__(self, *args, **kwargs):
         robot_name = "mockbot"

robot_skills/src/robot_skills/robot.py

@@ -407,10 +407,3 @@ def _collect_available(values, test_func):
         if test_func(value):
             founds.add(value)
     return founds
-
-
-if __name__ == "__main__":
-    rospy.init_node("robot")
-
-    import doctest
-    doctest.testmod()

robot_skills/src/robot_skills/util/kdl_conversions.py

@@ -40,7 +40,7 @@ def extractVectorStamped(self):
         :returns VectorStamped
         >>> fs = FrameStamped(kdl.Frame(kdl.Rotation.Quaternion(1, 0, 0, 0), kdl.Vector(1, 2, 3)), "/map")
         >>> fs.extractVectorStamped()
-        [           1,           2,           3] @ /map
+        VectorStamped([           1,           2,           3] @ /map)
         """
         return deepcopy(VectorStamped(frame_id=self.frame_id, vector=self.frame.p))
 
@@ -268,6 +268,7 @@ def kdl_vector_stamped_to_point_stamped(vector_stamped):
                         vector_stamped.vector.z())
     return ps
 
+
 if __name__ == "__main__":
     import doctest
     doctest.testmod()

robot_skills/src/robot_skills/util/msg_constructors.py

@@ -22,9 +22,9 @@ def Point(x=0, y=0, z=0):
 
 def Header(frame_id="/map", stamp=None):
     """Make a Header
-    >>> h = Header("/base_link")
-    >>> assert h.stamp.secs > 0
-    >>> assert h.stamp.nsecs > 0
+    >>> h = Header("/base_link")  # doctest: +SKIP
+    >>> assert h.stamp.secs > 0  # doctest: +SKIP
+    >>> assert h.stamp.nsecs > 0  # doctest: +SKIP
     """
     if not stamp:
         _time = rospy.Time.now()
@@ -61,7 +61,7 @@ def Quaternion(x=0, y=0, z=0, w=0, roll=0, pitch=0, yaw=0):
 def Pose(x=0, y=0, z=0, phi=0, roll=0, pitch=0, yaw=0):
     """
     >>> pose = Pose(yaw=0.5)
-    >>> pose
+    >>> pose  # doctest: +NORMALIZE_WHITESPACE
     position:
       x: 0
       y: 0
@@ -89,8 +89,8 @@ def PoseStamped(x=0, y=0, z=0, phi=0,
     frame_id="/map", stamp=None, pointstamped=None):
     """Build a geometry_msgs.msgs.PoseStamped from any number of arguments.
     Each value defaults to 0
-    >>> ps = PoseStamped(yaw=0.5)
-    >>> ps.pose
+    >>> ps = PoseStamped(yaw=0.5)  # doctest: +SKIP
+    >>> ps.pose  # doctest: +SKIP
     position:
       x: 0
       y: 0

robot_skills/src/robot_skills/util/shape.py

@@ -145,5 +145,4 @@ def shape_from_entity_info(e):
 
 if __name__ == "__main__":
     import doctest
-
     doctest.testmod()

robot_skills/src/robot_skills/util/volume.py

@@ -279,5 +279,4 @@ def volumes_from_entity_volumes_msg(msg):
 
 if __name__ == "__main__":
     import doctest
-
     doctest.testmod()

robot_skills/test/test_doctest.py

@@ -0,0 +1,13 @@
+from test_tools.doctest_unittest import _TestDocTests
+import unittest
+
+
+class DocTestsRobotSkills(_TestDocTests):
+    def __init__(self, method_name="test_doctests"):
+        super(DocTestsRobotSkills, self).__init__(module_name="robot_skills", method_name=method_name)
+
+
+if __name__ == '__main__':
+    suite = unittest.TestSuite()
+    suite.addTest(DocTestsRobotSkills())
+    unittest.TextTestRunner(verbosity=2).run(suite)

robot_skills/test/test_import.py

@@ -0,0 +1,13 @@
+import unittest
+
+
+class TestImport(unittest.TestCase):
+    def test_import(self):
+        """
+        If no exception is raised, this test will succeed
+        """
+        import robot_skills
+
+
+if __name__ == '__main__':
+    unittest.main()

robot_smach_states/src/robot_smach_states/util/designators/ed_designators.py

@@ -551,7 +551,5 @@ def __repr__(self):
 
 
 if __name__ == "__main__":
-
     import doctest
-
     doctest.testmod()