{"action":"created","comment":{"url":"https://api.github.com/repos/ToyotaResearchInstitute/task_behavior_ros/pulls/comments/102583023","pull_request_review_id":23112055,"id":102583023,"diff_hunk":"@@ -0,0 +1,282 @@\n+#!/usr/bin/env python\n+# Copyright 2016 Toyota Research Institute\n+\n+# Licensed under the Apache License, Version 2.0 (the \"License\"); you may not\n+# use this file except in compliance with the License. You may obtain a copy\n+# of the License at\n+\n+#   http://www.apache.org/licenses/LICENSE-2.0\n+\n+# Unless required by applicable law or agreed to in writing, software\n+# distributed under the License is distributed on an \"AS IS\" BASIS, WITHOUT\n+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the\n+# License for the specific language governing permissions and limitations\n+# under the License.\n+import argparse\n+import rospy\n+import sys\n+\n+import nose\n+from nose.tools import assert_equal\n+\n+from sensor_msgs.msg import BatteryState\n+\n+from task_behavior_engine.tree import NodeStatus\n+from task_behavior_engine.tree import Blackboard\n+from task_behavior_ros import batterystate\n+\n+\n+class TestChargeCompleteMonitor(object):\n+\n+    def setUp(self):\n+        self.blackboard = Blackboard()\n+        self.charge_monitor = batterystate.ChargeCompleteMonitor(\n+            name=\"monitor\", topic_name=\"/battery\", latch=True, blackboard=self.blackboard)\n+\n+        self.msg_pub = rospy.Publisher(\"/battery\", BatteryState,\n+                                       queue_size=1)\n+        rospy.sleep(0.5)\n+\n+    def test_init(self):\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.ACTIVE)\n+\n+        # empty message should fail\n+        msg = BatteryState()\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_charging(self):\n+        msg = BatteryState()\n+        # Charging at max, report ACTIVE\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING\n+        msg.percentage = 1.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.ACTIVE)\n+\n+        # Charging but above max, report SUCCESS\n+        self.blackboard.save(\"max_charge\", 0.95, self.charge_monitor._id)\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Charging but below max, report ACTIVE\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.ACTIVE)\n+\n+    def test_discharging(self):\n+        msg = BatteryState()\n+        # Discharging at max, report FAIL\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING\n+        msg.percentage = 1.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Discharging but above max, report FAIL\n+        self.blackboard.save(\"max_charge\", 0.95, self.charge_monitor._id)\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Discharging but below max, report FAIL\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_full(self):\n+        msg = BatteryState()\n+        # Charge at full, report SUCCESS.\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL\n+        msg.percentage = 1.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Charge at full but above max, report SUCCESS\n+        self.blackboard.save(\"max_charge\", 0.95, self.charge_monitor._id)\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Charge at full, but percentage low, still report success\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+    def test_unknown(self):\n+        msg = BatteryState()\n+        # Unkown at max, report FAIL\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_UNKNOWN\n+        msg.percentage = 1.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Unkown but above max, report FAIL\n+        self.blackboard.save(\"max_charge\", 0.95, self.charge_monitor._id)\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Unknown but below max, report FAIL\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+\n+class TestChargeOKMonitor(object):\n+\n+    def setUp(self):\n+        self.blackboard = Blackboard()\n+        self.charge_monitor = batterystate.ChargeOKMonitor(\n+            name=\"monitor\", topic_name=\"/battery\", latch=True, blackboard=self.blackboard)\n+\n+        self.msg_pub = rospy.Publisher(\"/battery\", BatteryState,\n+                                       queue_size=1)\n+        rospy.sleep(0.5)\n+\n+    def test_init(self):\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.ACTIVE)\n+\n+        # empty message should fail\n+        msg = BatteryState()\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_charging(self):\n+        msg = BatteryState()\n+        # Charging at min, report FAIL\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Charging but above min, report SUCCESS\n+        self.blackboard.save(\"min_charge\", 0.5, self.charge_monitor._id)\n+        msg.percentage = 0.8\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Charging but below min, report FAIL\n+        msg.percentage = .1\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_discharging(self):\n+        msg = BatteryState()\n+        # Discharging at max, report FAIL\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Discharging but above min, report SUCCESS\n+        self.blackboard.save(\"min_charge\", 0.5, self.charge_monitor._id)\n+        msg.percentage = 0.8\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Discharging but below min, report FAIL\n+        msg.percentage = .1\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_full(self):\n+        msg = BatteryState()\n+        # Charge at full, report FAIL.\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Charge at full but above min, report SUCCESS\n+        self.blackboard.save(\"min_charge\", 0.5, self.charge_monitor._id)\n+        msg.percentage = 0.8\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Charge at full but below min, report FAIL\n+        msg.percentage = .1\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+    def test_unknown(self):\n+        msg = BatteryState()\n+        # Unkown at max, report FAIL\n+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_UNKNOWN\n+        msg.percentage = 0.\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+        # Unknown but above min, report SUCCESS\n+        self.blackboard.save(\"min_charge\", 0.5, self.charge_monitor._id)\n+        msg.percentage = 0.8\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.SUCCESS)\n+\n+        # Unknown but below min, report FAIL\n+        msg.percentage = .1\n+        self.msg_pub.publish(msg)\n+        rospy.sleep(0.1)  # let callbacks finish\n+        result = self.charge_monitor.tick()\n+        assert_equal(result.status, NodeStatus.FAIL)\n+\n+if __name__ == '__main__':\n+    # This code will run the test in this file.'\n+    module_name = sys.modules[__name__].__file__\n+\n+    parser = argparse.ArgumentParser(description='Perform unit test.')\n+    parser.add_argument(\n+        '--gtest_output', nargs='?', default='test.xml')\n+\n+    args, unknown = parser.parse_known_args()\n+\n+    noseargs = [sys.argv[0], module_name, '--with-xunit',\n+                '--xunit-file='+str(args.gtest_output.lstrip('xml:'))]","path":"test/test_batterystate.py","position":281,"original_position":281,"commit_id":"9362d1ef2952e40ef97813bfc6163b3b2846c425","original_commit_id":"9362d1ef2952e40ef97813bfc6163b3b2846c425","user":{"login":"athackst","id":6098197,"avatar_url":"https://avatars.githubusercontent.com/u/6098197?v=3","gravatar_id":"","url":"https://api.github.com/users/athackst","html_url":"https://github.com/athackst","followers_url":"https://api.github.com/users/athackst/followers","following_url":"https://api.github.com/users/athackst/following{/other_user}","gists_url":"https://api.github.com/users/athackst/gists{/gist_id}","starred_url":"https://api.github.com/users/athackst/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/athackst/subscriptions","organizations_url":"https://api.github.com/users/athackst/orgs","repos_url":"https://api.github.com/users/athackst/repos","events_url":"https://api.github.com/users/athackst/events{/privacy}","received_events_url":"https://api.github.com/users/athackst/received_events","type":"User","site_admin":false},"body":"Yep, it's to create the appropriately formatted output file for 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