Add more asserts

Author: LoyVanBeek

flexbe_core/src/flexbe_core/core/concurrency_container.py

@@ -50,9 +50,7 @@ def _execute_current_state(self):
                     # but is required here to reset the sleep time after executing
                     state.sleep()
 
-            Logger.loginfo("BEFORE: state.sleep_duration({ssd}) if sleep_dur({sd}) is None else "
-                           "min(sleep_dur, state.sleep_duration)({m})"
-                           .format(ssd=state.sleep_duration, sd=sleep_dur, m=min(sleep_dur, state.sleep_duration)))
+            Logger.loginfo("BEFORE: state.sleep_duration({ssd}) if sleep_dur({sd}) is None else".format(ssd=state.sleep_duration, sd=sleep_dur))
             sleep_dur = state.sleep_duration if sleep_dur is None else min(sleep_dur, state.sleep_duration)
             Logger.loginfo("AFTER: sleep_dur={sd}".format(sd=sleep_dur))
         if sleep_dur > 0:

flexbe_core/test/test_core.py

@@ -355,11 +355,14 @@ def sleep(self):
                 pass
 
         # all states are called with their correct rate
+        self.assertEquals(cc.sleep_duration, 0., msg="cc.sleep_duration should be 0. before executing")
         cc.execute(None)
+        self.assertAlmostEqual(cc.sleep_duration, .1, delta=0.05, msg="After executing once, cc.sleep_duration should be set to the duration of the 'fastest' state")
         cc.sleep()
+        self.assertAlmostEqual(cc.sleep_duration, .0, delta=0.05, msg="After sleeping once, cc.sleep_duration should be reset to 0")
         cc.execute(None)
         rospy.logwarn("self.assertAlmostEqual(cc.sleep_duration, .1, places=2)")
-        self.assertAlmostEqual(cc.sleep_duration, .1, places=2)
+        self.assertAlmostEqual(cc.sleep_duration, .1, delta=0.05, msg="After executing twice, cc.sleep_duration should be set to the duration of the 'fastest' state")
         cc.sleep()
         cc['main'].set_rate(15)
         cc['side'].set_rate(10)