[AIRO-420] Adding Pick and Place Integration Test #228
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| #if INTEGRATION_TEST | ||
| int ReturnFive() | ||
| { | ||
| return 5; | ||
| } | ||
| #endif |
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Experimental code - will remove.
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Tests "passed," but on reviewing the output in the Yamato log it looks like the integration test was skipped. My guess is that the |
https://unity-ci.cds.internal.unity3d.com/job/7007522 Line 4991 -- Test successfully executes! |
tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TargetPlacement.cs
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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs
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| - mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets | ||
| - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests | ||
| - git submodule update --init --recursive | ||
| # We must remove the Demo.cs script because the System.CodeDom assembly is not in the bokken .NET sdk |
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wow. i would not know this. Do you think we should ask bokken team to add System.CodeDom assembly ?
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I have brought it up with them before and was basically told to figure it out myself. I think the issue is that utr automatically includes the -api-profile NET_Standard_2_0 argument in every test invocation, meaning that the API we're developing against is not the same as the API that test runner runs our tests against. I've raised this with the test framework team and hopefully we can figure out why that is.
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| [RequireComponent(typeof(MeshRenderer))] | ||
| [RequireComponent(typeof(BoxCollider))] | ||
| public class TargetPlacement : MonoBehaviour |
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Will this class be used in the demo process or is it only for the integration test?
| { | ||
| #if INTEGRATION_TEST | ||
| SetUpScene(); | ||
| // TODO: This test could be made a PlayMode test once ImportRobot can use the PlayMode URDF import |
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nit: I think the URDF-Importer 0.4.0 is ready to import the robot in the playmode?
| //m_RosConnection.overrideUnityIP = k_IpAddressLoopback; | ||
| //m_RosConnection.unityPort = k_UnityPort; | ||
| //m_RosConnection.awaitDataMaxRetries = k_NumAwaitDataRetries; | ||
| //m_RosConnection.awaitDataSleepSeconds = k_NumAwaitDataSleepSeconds; |
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do we need to remove these lines?
* AIRO-420 Adding integration tests to PickAndPlaceProject * Updating version in tutorial and fixing TargetPlacement bug.
Proposed change(s)
This PR includes two major additions:
First, a new MonoBehaviour called
TargetPlacementwas added and attached to the TargetPlacement prefab. The purpose of this script is to track the state of TargetPlacement with respect to the expected Target to be placed within its bounds. This state tracking allows for automated and visual confirmation that the Pick and Place task completed successfully (the Target has been placed at rest in the TargetPlacement zone). Unit tests are also added for this class.I've added scripts to the
.yamatodirectory that modify the state of the PickAndPlaceProject to reproduce the configuration reached after finishing Part 3 of the tutorial and add theINTEGRATION_TESTscripting define to the ProjectSettings.asset file (this is the only difference between IntegrationTestSettings.asset and the original in the ProjectSettings directory).Tested locally and on Yamato until same result was achieved.
Useful links (GitHub issues, JIRA tickets, forum threads, etc.)
Provide any relevant links here.
Types of change(s)
Testing and Verification
It is a test, and it passes.
Test Configuration:
Unity 2020.2.0b9
Unity machine OS:
ROS machine OS: Ubuntu 18.04 in Docker container from Pick and Place
ROS–Unity communication: loopback through Docker
Checklist
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