#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Software License Agreement (BSD License)
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# Copyright (c) 2015, TORK (Tokyo Opensource Robotics Kyokai Association)
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import unittest

from moveit_ros_visualization.moveitjoy_module import MoveitJoy
import rospy
import rostest
import os

_PKGNAME = 'moveit_ros_visualization'
_NODENAME = 'test_moveit_joy'

class TestMoveitJoy(unittest.TestCase):
    def __init__(self, *args, **kwargs):
        super(TestMoveitJoy, self).__init__(*args, **kwargs)

    def test_constructor(self):
        # As there is no robot model loaded, the constructor will raise an exception
        # However, at least we tested, that MoveitJoy constructor can be called...
        self.assertRaises(RuntimeError, MoveitJoy)

if __name__ == '__main__':
    rospy.init_node(_NODENAME)
    rostest.rosrun(_PKGNAME, _NODENAME, TestMoveitJoy)
    # Don't get trapped by https://github.com/ros/ros_comm/issues/870
    os._exit(0)  # exit without cleanup
