Merge pull request #77 from compas-dev/tests

Improve tests

Author: gonzalocasas

.travis.yml

@@ -23,8 +23,19 @@ matrix:
     - name: "Python 3.7: Xenial Linux"
       python: 3.7
       dist: xenial
-      env: TRAVIS_PYTHON_VERSION=3.7
+      # Pytest doctests are only enabled for Linux
+      # because they are integration tests and need ROS running on Docker
+      env:
+        - TRAVIS_PYTHON_VERSION=3.7
+        - PYTEST_ADDOPTS=--doctest-modules
       services: docker
+      before_install:
+        - docker run -p 19997:19997 --name vrep_rfl -d gramaziokohler/vrep-rfl
+        - docker-compose -f "docs/backends/files/ur5-demo/docker-compose.yml" up -d --build
+        - docker ps -a
+      after_script:
+        - docker-compose -f "docs/backends/files/ur5-demo/docker-compose.yml" down
+        - docker rm -f vrep_rfl
     - name: "Python 3.7: macOS"
       os: osx
       osx_image: xcode10.2

docs/examples/03_backends_ros/01_ros_examples.rst

@@ -23,10 +23,8 @@ see the output ``Connected: True`` if everything is working properly:
 .. code-block:: python
 
     from compas_fab.backends import RosClient
-    client = RosClient()
-    client.run()
-    print('Connected: %s' % client.is_connected)
-    client.terminate()
+    with RosClient() as client:
+        print('Connected:', client.is_connected)
 
 *Yay! Our first connection to ROS!*
 

docs/examples/03_backends_ros/files/01_ros_hello_world_listener.py

@@ -1,16 +1,17 @@
 import time
 
-from roslibpy import Message
 from roslibpy import Topic
-
 from compas_fab.backends import RosClient
 
-client = RosClient()
-listener = Topic(client, '/chatter', 'std_msgs/String')
 
 def receive_message(message):
     print('Heard talking: ' + message['data'])
 
-listener.subscribe(receive_message)
 
-client.run_forever()
+with RosClient() as client:
+    listener = Topic(client, '/chatter', 'std_msgs/String')
+
+    listener.subscribe(receive_message)
+
+    while client.is_connected:
+        time.sleep(1)

docs/examples/03_backends_ros/files/01_ros_hello_world_talker.py

@@ -5,16 +5,12 @@
 
 from compas_fab.backends import RosClient
 
-client = RosClient()
-client.run()
+with RosClient() as client:
+    talker = Topic(client, '/chatter', 'std_msgs/String')
 
-talker = Topic(client, '/chatter', 'std_msgs/String')
+    while client.is_connected:
+        talker.publish(Message({'data': 'Hello World!'}))
+        print('Sending message...')
+        time.sleep(1)
 
-while client.is_connected:
-    talker.publish(Message({'data': 'Hello World!'}))
-    print('Sending message...')
-    time.sleep(1)
-
-talker.unadvertise()
-
-client.terminate()
+    talker.unadvertise()

pytest.ini

@@ -1,4 +1,3 @@
 [pytest]
-testpaths = tests
-addopts = --doctest-modules
+testpaths = tests src
 doctest_optionflags= NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES

src/compas_fab/backends/ros/client.py

@@ -80,9 +80,8 @@ class RosClient(Ros):
     --------
 
     >>> from compas_fab.backends import RosClient
-    >>> client = RosClient()
-    >>> client.run()
-    >>> print('Connected: %s' % client.is_connected)
+    >>> with RosClient() as client:
+    ...     print('Connected: %s' % client.is_connected)
     Connected: True
 
     Note

src/compas_fab/backends/ros/messages/control_msgs.py

@@ -18,7 +18,7 @@ def __init__(self, name="", position=0., velocity=0., acceleration=0.):
 
 
 class FollowJointTrajectoryGoal(ROSmsg):
-    """http://docs.ros.org/fuerte/api/control_msgs/html/msg/FollowJointTrajectoryGoal.html
+    """http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html
     """
 
     def __init__(self, trajectory=None, path_tolerance=None,

src/compas_fab/backends/ros/messages/moveit_msgs.py

@@ -139,27 +139,6 @@ def from_msg(cls, msg):
 
 class PositionIKRequest(ROSmsg):
     """http://docs.ros.org/kinetic/api/moveit_msgs/html/msg/PositionIKRequest.html
-
-    Examples
-    --------
-    >>> base_link = 'base_link'
-    >>> planning_group = 'manipulator'
-    >>> pose = Pose([420, -25, 459], [1, 0, 0], [0, 1, 0])
-    >>> joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint',
-                       'elbow_joint', 'wrist_1_joint', 'wrist_2_joint',
-                       'wrist_3_joint']
-    >>> joint_positions = [3.39, -1.47, -2.05, 0.38, -4.96, -6.28]
-    >>> header = Header(frame_id='base_link')
-    >>> pose_stamped = PoseStamped(header, pose)
-    >>> joint_state = JointState(name=joint_names, position=joint_positions,
-                                 header=header)
-    >>> multi_dof_joint_state = MultiDOFJointState(header=header,
-                                                   joint_names=joint_names)
-    >>> start_state = RobotState(joint_state, multi_dof_joint_state)
-    >>> ik_request = PositionIKRequest(group_name=planning_group,
-                                       robot_state=start_state,
-                                       pose_stamped=pose_stamped,
-                                       avoid_collisions=True)
     """
 
     def __init__(self, group_name="robot", robot_state=None, constraints=None,

src/compas_fab/backends/ros/messages/services.py

@@ -17,31 +17,6 @@
 
 class GetPositionIKRequest(ROSmsg):
     """http://docs.ros.org/kinetic/api/moveit_msgs/html/srv/GetPositionIK.html
-
-    Examples
-    --------
-    >>> import roslibpy
-    >>> base_link = 'base_link'  # robot.get_base_link_name()
-    >>> planning_group = 'manipulator'  # robot.main_planning_group
-    >>> pose = Pose([0.420, -0.025, 0.459], [1, 0, 0], [0, 1, 0])
-    >>> joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint',
-                       'elbow_joint', 'wrist_1_joint', 'wrist_2_joint',
-                       'wrist_3_joint']
-    >>> joint_positions = [3.39, -1.47, -2.05, 0.38, -4.96, -6.28]
-    >>> header = Header(frame_id='base_link')
-    >>> pose_stamped = PoseStamped(header, pose)
-    >>> joint_state = JointState(name=joint_names, position=joint_positions,
-                                 header=header)
-    >>> multi_dof_joint_state = MultiDOFJointState(header=header)
-    >>> start_state = RobotState(joint_state, multi_dof_joint_state)
-    >>> ik_request = PositionIKRequest(group_name=planning_group,
-                                       robot_state=start_state,
-                                       pose_stamped=pose_stamped,
-                                       avoid_collisions=True)
-    >>> reqmsg = GetPositionIKRequest(ik_request)
-    >>> srv = roslibpy.Service(ros_client, '/compute_ik', 'GetPositionIK')
-    >>> request = roslibpy.ServiceRequest(reqmsg.msg)
-    >>> srv.call(request, GetPositionIKResponse.from_msg, GetPositionIKResponse.from_msg)
     """
     def __init__(self, ik_request=None):
         self.ik_request = ik_request or PositionIKRequest()
@@ -91,32 +66,6 @@ def from_msg(cls, msg):
 
 class GetCartesianPathRequest(ROSmsg):
     """http://docs.ros.org/melodic/api/moveit_msgs/html/srv/GetCartesianPath.html
-
-    Examples
-    --------
-    >>> import roslibpy
-    >>> base_link = 'base_link' # robot.get_base_link_name()
-    >>> ee_link = 'ee_link' # robot.get_end_effector_link_name()
-    >>> main_planning_group = 'manipulator' # robot.main_planning_group
-    >>> joint_names = ['j0', 'j1', 'j2', 'j3', 'j4', 'j5']
-    >>> position = [0, 0, 0, 0, 0, 0] # robot.get_configurable_joint_names()
-    >>> header = Header(frame_id=base_link)
-    >>> joint_state = JointState(header=header, name=joint_names, position=position) # or: robot.get_joint_state()
-    >>> multi_dof_joint_state = MultiDOFJointState(header=header)
-    >>> start_state = RobotState(joint_state=joint_state, multi_dof_joint_state=multi_dof_joint_state)
-    >>> start_pose = Pose([0.1068, -0.1818, 0.5930], [1., 0., 0.], [-0., 0., 1.])
-    >>> end_pose = Pose([0.1041, -0.2946, 0.1843], [1., 0., 0.], [0., 1., 0.])
-    >>> waypoints = [start_pose, end_pose]
-    >>> reqmsg = GetCartesianPathRequest(header=header,
-                                         start_state=start_state,
-                                         group_name=main_planning_group,
-                                         link_name=ee_link,
-                                         waypoints=waypoints,
-                                         max_step=10,
-                                         avoid_collisions=True)
-    >>> srv = roslibpy.Service(ros_client, '/compute_cartesian_path', 'GetCartesianPath')
-    >>> request = roslibpy.ServiceRequest(reqmsg.msg)
-    >>> srv.call(request, GetCartesianPathResponse.from_msg, GetCartesianPathResponse.from_msg)
     """
 
     def __init__(self, header=None, start_state=None, group_name='',

src/compas_fab/backends/vrep/client.py

@@ -54,17 +54,16 @@ class VrepClient(object):
 
         >>> from compas_fab.backends import VrepClient
         >>> with VrepClient() as client:
-        ...     print ('Connected: %s' % client.is_connected
-        ...
+        ...     print ('Connected: %s' % client.is_connected)
         Connected: True
 
     Note:
         For more examples, check out the :ref:`V-REP examples page <examples_vrep>`.
     """
     SUPPORTED_PLANNERS = ('bitrrt', 'bkpiece1', 'est', 'kpiece1',
-                            'lazyprmstar', 'lbkpiece1', 'lbtrrt', 'pdst',
-                            'prm', 'prrt', 'rrt', 'rrtconnect', 'rrtstar',
-                            'sbl', 'stride', 'trrt')
+                           'lazyprmstar', 'lbkpiece1', 'lbtrrt', 'pdst',
+                           'prm', 'prrt', 'rrt', 'rrtconnect', 'rrtstar',
+                           'sbl', 'stride', 'trrt')
 
     def __init__(self, host='127.0.0.1', port=19997, scale=DEFAULT_SCALE, lua_script='RFL', debug=False):
         super(VrepClient, self).__init__()
@@ -150,8 +149,8 @@ def get_object_matrices(self, object_handles):
             >>> from compas_fab.backends import VrepClient
             >>> with VrepClient() as client:
             ...     matrices = client.get_object_matrices([0])
-            ...     print([int(i) for i in matrices[0]])
-            [0, 0, 0, 19, 0, 0, 0, 10, 0, 0, 0, 6]
+            ...     print([int(i) for i in matrices[0]])   # doctest: +SKIP
+            [0, 0, 0, 19, 0, 0, 0, 10, 0, 0, 0, 6]         # doctest: +SKIP
 
         .. note::
             The resulting dictionary is keyed by object handle.
@@ -226,7 +225,7 @@ def set_robot_config(self, robot, config):
             >>> with VrepClient() as client:
             ...     config = Configuration.from_prismatic_and_revolute_values([7.600, -4.500, -5.500],
             ...                                                               to_radians([90, 0, 0, 0, 0, -90]))
-            ...     client.set_robot_config(Robot.basic('A', index=0), config)
+            ...     client.set_robot_config(rfl.Robot('A'), config)
             ...
         """
         assert_robot(robot)
@@ -250,7 +249,7 @@ def get_robot_config(self, robot):
 
             >>> from compas_fab.robots import *
             >>> with VrepClient() as client:
-            ...     config = client.get_robot_config(Robot.basic('A', index=0))
+            ...     config = client.get_robot_config(rfl.Robot('A'))
 
         Returns:
             An instance of :class:`.Configuration`.
@@ -272,16 +271,16 @@ def forward_kinematics(self, robot):
 
             >>> from compas_fab.robots import *
             >>> with VrepClient() as client:
-            ...     frame = client.forward_kinematics(Robot.basic('A', index=0))
+            ...     frame = client.forward_kinematics(rfl.Robot('A'))
 
         Returns:
             An instance of :class:`Frame`.
         """
         assert_robot(robot)
 
         _res, _, pose, _, _ = self.run_child_script('getIkTipPose',
-                                                      [robot.model.attr['index']],
-                                                      [], [])
+                                                     [robot.model.attr['index']],
+                                                     [], [])
         return vrep_pose_to_frame(pose, self.scale)
 
     def inverse_kinematics(self, robot, goal_frame, metric_values=None, gantry_joint_limits=None, arm_joint_limits=None, max_trials=None, max_results=1):