test_task.py 文件源码

def test_timeout(self):
        entered = MagicMock()
        exited = MagicMock()

        self.my_task.steps['timed'].entered_handler = entered
        self.my_task.steps['timed'].exited_handler = exited 

        rospy.wait_for_service("mytask_step")
        proxy = rospy.ServiceProxy(
            "mytask_step",
            StepTask 
        )

        response = proxy(name='timed')
        self.assertEqual(self.my_task.current_step.name, 'timed')
        entered.assert_called_once()

        rospy.sleep(0.2)
        self.assertEqual(self.my_task.current_step.name, 'say_hello')
        exited.assert_called_once()

        # Test that the timer does in fact reset
        rospy.sleep(0.2)
        self.assertEqual(self.my_task.current_step.name, 'say_hello')