add testing documentation to readmes

.gitignore

@@ -122,3 +122,5 @@ harmoni_actuators/harmoni_tts/content/*
 doc/_build
 harmoni_actuators/harmoni_tts/scale_stats.npy
 harmoni_actuators/harmoni_tts/temp_data/tts.wav
+
+harmoni_actuators/harmoni_tts/TTS/

harmoni_actuators/harmoni_face/README.md

@@ -161,6 +161,13 @@ Parameters input for the nose service are:
 
 
 ## Testing
+The face can be tested by running `rostest harmoni_face face.test`. Once this command is run, the top of the output in the terminal will read
+```
+Starting up http-server, serving ./
+Available on:
+```
+and then three links will be underneath. The second link must be opened in a browser in order for the test to pass. The webpage should display an animation of the QT's face. This test checks if the face is properly displayed and will fail if the link is not opened or the face is not properly displayed.
+
 
 For testing the service you have to run:
 

harmoni_actuators/harmoni_gesture/README.md

@@ -66,8 +66,7 @@ Parameters input for the gesture service corresponds the the $ROBOT_param which
 
 ## Testing
 
-To test that the gesture has been configured properly, use the command ```rostest harmoni_gesture gesture.test``` which will play a short phrase through the configured device.
-This testing works for the simulator on kinetic.
+To test that the gesture has been configured properly, use the command ```rostest harmoni_gesture gesture.test``` which will play a short phrase through the configured device. This test checks that the joints can be properly controlled to run through gestures.
 
 TODO:
 - Testing to perform on the real robot

harmoni_actuators/harmoni_speaker/README.md

@@ -29,5 +29,7 @@ Parameters input for the speaker service:
 ## Testing
 
 To test that the speaker has been configured properly, use the command ```roslaunch harmoni_speaker speaker_service.launch``` which will play a short phrase through the configured device. You may need to experiement with different values to ensure the proper speaker is set up.
+
+The speaker can also be tested by running `rostest harmoni_speaker speaker.test`. When being tested on a QT robot, this must be run on the QT's Raspberry Pi in order to hear the audio clip be played. This test checks that audio can be successfully played through QT's speaker and will fail if the speaker is not set up or configured properly.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_speaker.html)

harmoni_actuators/harmoni_tts/README.md

@@ -33,8 +33,7 @@ Parameters input for the local TTS service:
 |sample_rate           |            |        |
 
 ## Testing
-
-The local test will save a wav file of the speech specified in the tts.test test_tts_input parameter in the temp_data directory. 
+This package can be tested by running `rostest harmoni_tts polly.test`. Amazon Polly must be set up in order for this test to pass. This test sends a request to connect to AWS services and will fail if the request does not succeed. It also sends text to the server to check that the text to speech services are working properly.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_tts.html)
 

harmoni_actuators/harmoni_web/README.md

@@ -11,5 +11,6 @@ Parameters input for the web service:
 |                      |            |        |
 
 ## Testing
+This package can be tested by running `rostest harmoni_web web.test`. After the command is run, a link for the webpage will be printed in the terminal output. The link for the webpage must be opened and elements on the webpage clicked in order for the test to pass. This test checks that the webpage can be displayed and detect user input correctly.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_web.html)

harmoni_core/harmoni_pattern/README.md

@@ -5,5 +5,6 @@ Control and running of behavior patterns
 ## Usage
 ## Parameters
 ## Testing
+This test checks that the QT can run through various patterns of services in different orders.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_pattern.html)

harmoni_detectors/harmoni_face_detect/README.md

@@ -12,6 +12,8 @@ In the future, an easier workaround might be to just install under ROS Noetic or
 
 ## Parameters
 ## Testing
+The face detector can be tested by running `rostest harmoni_face_detect face_detect.test` in the harmoni_face_detector container.
+
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_face_detect.html)
 

harmoni_dialogues/harmoni_bot/README.md

@@ -15,5 +15,6 @@ Parameters input for the aws lex service:
 |region_name           |            |        |
 
 ## Testing
+This package can be tested by running `rostest harmoni_bot lex.test`. Amazon Lex should be set up in order for this test to pass. This test sends a request to the real API server and stores the response. The test will fail if the request does not succeed.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_bot.html)

harmoni_sensors/harmoni_camera/README.md

@@ -5,5 +5,7 @@ The harmoni_camera package provides a simple wrapper around the camera for publi
 ## Usage
 ## Parameters
 ## Testing
+The camera can be tested by running `rostest harmoni_camera camera.test`. When being tested on a QT robot, this must be run on the QT's Raspberry Pi. This test checks that the camera can record images and will fail if the camera has not been properly set up or configured.
+
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_camera.html)

harmoni_sensors/harmoni_microphone/README.md

@@ -14,5 +14,6 @@ Parameters input for the microphone service:
 
 
 ## Testing
+The microphone can be tested by running `rostest harmoni_microphone microphone.test`. When being tested on a QT robot, this must be run on the QT's Raspberry Pi. This test checks that the microphone can record audio and will fail if the microphone has not been correctly set up or configured.
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_microphone.html)

harmoni_sensors/harmoni_microphone/test/rostest_microphone.py

@@ -14,6 +14,8 @@
 from collections import deque
 import os, io
 import ast
+import numpy as np
+import wave
 
 
 class TestMicrophone(unittest.TestCase):
@@ -96,8 +98,27 @@ def test_recording(self):
         # TODO use microphone service recording functionality
         # either through an import ant test or may add optional data
         # which specifies recording
-        pass
+        rospy.loginfo(f"Start recording to {self.file_path}")
 
+        self.mic_sub = rospy.Subscriber(
+            self.microphone_topic,
+            AudioData,
+            self._record_audio_data_callback,
+            queue_size=1,
+        )
+
+    def _record_audio_data_callback(self, data):
+        data = np.fromstring(data.data, np.uint8)
+        if self.first_audio_frame:
+            self.wf = wave.open(self.file_path, "wb")
+            self.wf.setnchannels(self.total_channels)
+            self.wf.setsampwidth(self.p.get_sample_size(self.audio_format))
+            self.wf.setframerate(self.audio_rate)
+            self.wf.setnframes(self.chunk_size)
+            self.wf.writeframes(b"".join(data))
+            self.first_audio_frame = False
+        else:
+            self.wf.writeframes(b"".join(data))
 
 def main():
     import rostest