505 lines
20 KiB
Python
505 lines
20 KiB
Python
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import unittest
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import requests
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import time
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import json
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from typing import Union
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from pypot.creatures import PoppyErgoJr
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class TestRestApi(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.jr = PoppyErgoJr(simulator='poppy-simu', use_http=True)
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cls.base_url = 'http://127.0.0.1:8080'
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cls.headers = {'Content-Type': 'application/json'}
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# Make sure the REST API is running before actually testing.
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while True:
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try:
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requests.get(cls.base_url + '/')
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break
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except requests.exceptions.ConnectionError:
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time.sleep(1)
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def get(self, url):
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url = '{}{}'.format(self.base_url, url)
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return requests.get(url)
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def post(self, url, data: Union[str, None] = None):
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url = '{}{}'.format(self.base_url, url)
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if data:
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return requests.post(url, data=data, headers=self.headers)
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return requests.post(url, headers=self.headers)
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def assert_status(self, answer, expected_code, request):
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self.assertEqual(expected_code, answer.status_code, "request " + request + " failed!")
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def one_line_assert(self, method, url, expected_code, data=None):
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"""
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Makes a get/post request and also verifies the answer code.
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:param method: either self.get or self.post
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:param url: an url of the rest api
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:param expected_code: the code the request should give
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:param data: body request for post method (optional)
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:return: an assertion
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"""
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if data:
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return self.assert_status(method(url, data), expected_code, method.__name__ + url)
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return self.assert_status(method(url), expected_code, method.__name__ + url)
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# region misc
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def test_ip(self):
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""" API REST test for request:
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GET /ip.json
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"""
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url = '/ip.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, url)
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def test_index(self):
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""" API REST test for request:
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GET /robot.json
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"""
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url = '/robot.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, url)
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def test_paths(self):
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""" API REST test for request:
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GET /
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"""
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url = '/' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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# endregion
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# region motors
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def test_motors_list(self):
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""" API REST test for request:
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GET /motors/list.json
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GET /motors/<alias>/list.json
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"""
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url = '/motors/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for m in ['m1', 'm2', 'm3', 'm4', 'm5', 'm6']: # Checks if all motors are present
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self.assertTrue(m in response_json["motors"], m + " could not be found in the list of motors")
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url = '/motors/motors/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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url = '/motors/base/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for m in ['m1', 'm2', 'm3']: # Checks if all motors are present
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self.assertTrue(m in response_json["base"], m + " could not be found in the list of motors")
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url = '/motors/tip/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for m in ['m4', 'm5', 'm6']: # Checks if all motors are present
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self.assertTrue(m in response_json["tip"], m + " could not be found in the list of motors")
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url = '/motors/unknown_alias/list.json' # Unknown alias
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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def test_motors_aliases_list(self):
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""" API REST test for request:
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GET /motors/aliases/list.json
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"""
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url = '/motors/aliases/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for a in ['base', 'tip']: # Checks if all aliases are present
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self.assertTrue(a in response_json["aliases"], a + " could not be found in the list of aliases")
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def test_motors_registers_list(self):
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""" API REST test for request:
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GET /motors/<motor_name>/registers/list.json
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"""
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url = '/motors/m1/registers/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for r in ['goal_speed', 'compliant', 'safe_compliant', 'angle_limit', 'id', 'name', 'model', 'present_position',
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'goal_position', 'present_speed', 'moving_speed', 'present_load', 'torque_limit', 'lower_limit',
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'upper_limit', 'present_voltage', 'present_temperature', 'pid', 'led', 'control_mode']:
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self.assertTrue(r in response_json["registers"], r + " could not be found in the list of registers")
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url = '/motors/unknown_motor/registers/list.json' # Unknown motor
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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def test_motor_register(self):
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""" API REST test for request:
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GET /motors/<motor_name>/registers/<register_name>/value.json
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POST /motors/<motor_name>/registers/<register_name>/value.json + new_value
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"""
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url = '/motors/m1/registers/present_position/value.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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url = '/motors/unknown_motor/registers/present_position/value.json' # Unknown motor
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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url = '/motors/m1/registers/unknown_register/value.json' # Unknown register
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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url = '/motors/m1/registers/compliant/value.json' # OK
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data = 'true'
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/motors/unknown_motor/registers/compliant/value.json' # Unknown motor
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data = 'true'
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response = self.post(url, data)
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self.assert_status(response, 404, 'POST ' + url)
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url = '/motors/m1/registers/unknown_register/value.json' # Unknown register
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data = 'true'
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response = self.post(url, data)
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self.assert_status(response, 404, 'POST ' + url)
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url = '/motors/m1/registers/compliant/value.json' # Wrong value
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data = 'wrong_value'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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def test_motor_register_values(self):
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""" API REST test for request:
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GET /motors/registers/<register_name>/list.json
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"""
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url = '/motors/registers/compliant/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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response_json = json.loads(response.text)
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for m in ['m1', 'm2', 'm3', 'm4', 'm5', 'm6']:
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self.assertTrue(m in response_json["compliant"], m + " could not be found in the list of motors")
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url = '/motors/registers/unknown_register/list.json' # Unknown register
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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# endregion
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# region goto
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def test_motor_goto(self):
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""" API REST test for request:
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POST /motors/<motor_name>/goto.json + position & duration & wait
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"""
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url = '/motors/m1/goto.json' # OK
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data = '{"position":10,"duration":"3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/motors/m1/goto.json' # Wrong duration
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data = '{"position":10,"duration":"-3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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url = '/motors/m1/goto.json' # At least one value is missing
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data = '{"duration":"3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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def test_motors_goto(self):
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""" API REST test for request:
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POST /motors/goto.json + motors & their positions & duration & wait
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"""
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url = '/motors/goto.json' # OK
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data = '{"motors":["m1", "m2"], "positions":[0,10],"duration":"3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/motors/goto.json' # Different amount of motors and positions
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data = '{"motors":["m1"], "positions":[0,10],"duration":"3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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url = '/motors/goto.json' # Wrong duration
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data = '{"motors":["m1", "m2"], "positions":[0,10],"duration":"-3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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url = '/motors/goto.json' # At least one value is missing
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data = '{"positions":[0,10],"duration":"3","wait":"true"}'
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response = self.post(url, data)
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self.assert_status(response, 400, 'POST ' + url)
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# endregion
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# region sensors
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def test_sensors_list(self):
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""" API REST test for request:
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GET /sensors/list.json
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"""
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url = '/sensors/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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def test_sensor_registers_list(self):
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""" API REST test for request:
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GET /sensors/<sensor_name>/registers/list.json
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"""
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# There is no sensor on a poppy-simu robot
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# url = '/sensors/camera/registers/list.json' # OK
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# response = self.get(url)
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# self.assert_status(response, 200, 'GET ' + url)
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url = '/sensors/unknown_sensor/registers/list.json' # Unknown sensor
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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def test_sensor_register(self):
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""" API REST test for request:
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GET /sensors/<sensor_name>/registers/<register_name>/value.json
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POST /sensors/<sensor_name>/registers/<register_name>/value.json + new_value
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"""
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# There is no sensor on a poppy-simu robot
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# url = '/sensors/camera/registers/resolution/value.json' # OK
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# response = self.get(url)
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# self.assert_status(response, 200, 'GET ' + url)
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url = '/sensors/unknown_sensor/registers/unknown_register/value.json' # Unknown sensor or register
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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url = '/sensors/unknown_sensor/registers/unknown_register/value.json' # Unknown sensor or register
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data = 'wrong_value'
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response = self.post(url, data)
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self.assert_status(response, 404, 'POST ' + url)
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# endregion
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# region records
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def test_records_list(self):
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""" API REST test for request:
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GET /records/list.json
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"""
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url = '/records/list.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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def test_records_values(self):
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""" API REST test for request:
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GET records/<move_name>/value.json
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"""
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self.one_line_assert(self.post, '/records/unit_test/record.json', 202) # Creates a record 'unit_test'
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self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
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url = '/records/unit_test/value.json' # OK
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response = self.get(url)
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self.assert_status(response, 200, 'GET ' + url)
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url = '/records/unit_test2/value.json' # Unknown move name
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response = self.get(url)
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self.assert_status(response, 404, 'GET ' + url)
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self.one_line_assert(self.post, '/records/unit_test/delete.json', 202) # Deletes the record 'unit_test'
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def test_records_record_and_save(self):
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""" API REST test for request:
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POST /records/<move_name>/record.json [+ motors] (optional)
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"""
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url = '/records/unit_test/record.json' # OK
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data = None
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/records/unit_test/save.json' # OK
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data = '{}'
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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response = json.loads(self.get('/records/list.json').text) # Checks if move has been created
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self.assertTrue('unit_test' in response["moves"], "Move unit_test was not created")
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url = '/records/unit_test/record.json' # OK
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data = '{"motors":["m1","m2"]}'
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/records/unit_test/save.json' # OK
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data = None
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response = self.post(url, data)
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self.assert_status(response, 202, 'POST ' + url)
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url = '/records/unit_test2/save.json' # Unknown move name
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data = None
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response = self.post(url, data)
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self.assert_status(response, 404, 'POST ' + url)
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|
|
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/delete.json', 202) # Deletes the record 'unit_test'
|
||
|
|
|
||
|
|
def test_record_delete(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
POST records/<move_name>/delete.json
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/record.json', 202) # Creates a record 'unit_test'
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
|
||
|
|
|
||
|
|
url = '/records/unit_test/delete.json' # OK
|
||
|
|
data = None
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 202, 'POST ' + url)
|
||
|
|
|
||
|
|
def test_record_play(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
POST /records/<move_name>/play.json + speed
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/record.json', 202) # Creates a record 'unit_test'
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
|
||
|
|
|
||
|
|
url = '/records/unit_test/play.json' # OK
|
||
|
|
data = '{"speed": -1}'
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 202, 'POST ' + url)
|
||
|
|
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/stop.json', 202) # Stops the replay
|
||
|
|
|
||
|
|
url = '/records/unit_test/play.json' # No speed field
|
||
|
|
data = '{"sped": -1}'
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 400, 'POST ' + url)
|
||
|
|
|
||
|
|
url = '/records/unit_test/play.json' # Unknown speed
|
||
|
|
data = '{"speed": unreadable_speed}'
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 400, 'POST ' + url)
|
||
|
|
|
||
|
|
url = '/records/unit_test2/play.json' # Unknown move name
|
||
|
|
data = '{"speed": -1}'
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 404, 'POST ' + url)
|
||
|
|
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/delete.json', 202) # Deletes the record 'unit_test'
|
||
|
|
|
||
|
|
def test_record_stop(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
POST /records/<move_name>/stop.json
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/record.json', 202) # Creates a record 'unit_test'
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/play.json', 202, '{"speed": 1}') # Starts a move replay
|
||
|
|
|
||
|
|
url = '/records/unit_test/stop.json' # OK
|
||
|
|
data = None
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 202, 'POST ' + url)
|
||
|
|
|
||
|
|
url = '/records/unit_test2/stop.json' # Unknown move name
|
||
|
|
data = None
|
||
|
|
response = self.post(url, data)
|
||
|
|
self.assert_status(response, 400, 'POST ' + url)
|
||
|
|
|
||
|
|
self.one_line_assert(self.post, '/records/unit_test/delete.json', 202) # Deletes the record 'unit_test'
|
||
|
|
# endregion
|
||
|
|
|
||
|
|
# region primitives
|
||
|
|
def test_primitives_list(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/list.json
|
||
|
|
"""
|
||
|
|
url = '/primitives/list.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 200, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_running_primitives_list(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/running/list.json
|
||
|
|
"""
|
||
|
|
url = '/primitives/running/list.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 200, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_start_primitive(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/start.json
|
||
|
|
"""
|
||
|
|
url = '/primitives/base_posture/start.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 202, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/start.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_stop_primitive(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/stop.json
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202) # Starts a primitive
|
||
|
|
|
||
|
|
url = '/primitives/base_posture/stop.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 202, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/stop.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_pause_primitive(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/pause.json
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202) # Starts a primitive
|
||
|
|
|
||
|
|
url = '/primitives/base_posture/pause.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 202, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/pause.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_resume_primitive(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/resume.json
|
||
|
|
"""
|
||
|
|
self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202) # Starts a primitive
|
||
|
|
self.one_line_assert(self.get, '/primitives/base_posture/pause.json', 202) # Pauses the primitive
|
||
|
|
|
||
|
|
url = '/primitives/base_posture/resume.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 202, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/resume.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_primitive_properties_list(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/properties/list.json
|
||
|
|
"""
|
||
|
|
url = '/primitives/base_posture/properties/list.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 200, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/properties/list.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
|
||
|
|
def test_primitive_methods_list(self):
|
||
|
|
""" API REST test for request:
|
||
|
|
GET /primitives/<primitive_name>/methods/list.json
|
||
|
|
"""
|
||
|
|
url = '/primitives/base_posture/methods/list.json' # OK
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 200, 'GET ' + url)
|
||
|
|
|
||
|
|
url = '/primitives/unknown_primitive/methods/list.json' # Unknown primitive
|
||
|
|
response = self.get(url)
|
||
|
|
self.assert_status(response, 404, 'GET ' + url)
|
||
|
|
# endregion
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
unittest.main()
|