Test Interface¶
Run and manage tests. This class can be imported into other ROS packages to enable control of tests. This interface is used in the backend of the GUI.
-
class
test_interface.
TestRunner
(name, debug=False)¶ A ROS Action server to run single tests.
- Parameters
name (str) – Name of the Action Server
-
balance
(type)¶ Balance either the load or F/T sensor
- Parameters
type (str) – The type of balance to perform. Must be either
pose
orft
-
estop
()¶ Perform an Emergency Stop
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get_test_status
()¶ Get the current state of the test
- Returns
state – The current state of the test
- Return type
ActionFeedback
-
load_profile
(filename)¶ Load the config profile from a file
- Parameters
filename (str) – Filename to load
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run_test
(wait_for_finish=True)¶ Run a test and wait for the result
- Parameters
wait_for_finish (bool) – Wait for the test to finish
- Returns
result – The result of the test.
- Return type
ActionResult
-
set_profile
(profile)¶ Set the config profile
- Parameters
profile (dict) – Testing profile to use
-
set_savefile
(save_file)¶ Set the filename to save
- Parameters
save_file (str) – Filename to save data to
-
shutdown
()¶ Shut down the node gracefully