#! /usr/bin/env python
"""
This script tests the 'data stream' oriented feature of the socket interface.
"""
from morse.testing.testing import MorseTestCase
try:
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] <your test>.py
from morse.builder import *
except ImportError:
pass
import sys
from pymorse import Morse
[docs]class ECEFModifierTest(MorseTestCase):
[docs] def setUpEnv(self):
robot = ATRV()
robot.translate(10.0, 8.0, 0.0)
gps = GPS()
gps.add_stream('socket')
robot.append(gps)
gps_mod = GPS()
gps_mod.add_stream('socket')
gps_mod.alter('ECEF')
robot.append(gps_mod)
teleport = Teleport()
teleport.add_stream('socket')
robot.append(teleport)
teleport_mod = Teleport()
teleport_mod.add_stream('socket')
robot.append(teleport_mod)
teleport_mod.alter('ECEF')
env = Environment('empty', fastmode = True)
env.add_service('socket')
env.properties(longitude = 43.6, latitude = 1.4333, altitude = 135.0)
[docs] def test_ecef_modifier(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gps_stream = morse.robot.gps
gps_mod_stream = morse.robot.gps_mod
teleport_stream = morse.robot.teleport
teleport_mod_stream = morse.robot.teleport_mod
pos = gps_stream.get()
pos_mod = gps_mod_stream.get()
precision = 0.02
self.assertAlmostEqual(pos['x'], 10.0, delta=precision)
self.assertAlmostEqual(pos['y'], 8.0, delta=precision)
# Z = 0.1 : pose of the ATRV's center relative to the world
self.assertAlmostEqual(pos['z'], 0.1, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 4617522.748, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 4397221.061, delta=precision)
self.assertAlmostEqual(pos_mod['z'], 158481.296875, delta=precision)
teleport_stream.publish({'x' : 100.0, 'y' : 200.0, 'z' : 50.0, 'yaw' : 0.0, 'pitch' : 0.0, 'roll' : 0.0})
morse.sleep(0.01)
pos = gps_stream.get()
pos_mod = gps_mod_stream.last()
self.assertAlmostEqual(pos['x'], 100.0, delta=precision)
self.assertAlmostEqual(pos['y'], 200.0, delta=precision)
self.assertAlmostEqual(pos['z'], 50.0, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 4617493.329 , delta=precision)
self.assertAlmostEqual(pos_mod['y'], 4397317.326, delta=precision)
self.assertAlmostEqual(pos_mod['z'], 158674.47893, delta=precision)
morse.deactivate('robot.teleport')
teleport_mod_stream.publish({'x': 4617522.748, 'y': 4397221.061, 'z':158481.296875, 'yaw' : 0.0, 'pitch' : 0.0, 'roll': 0.0})
morse.sleep(0.03)
pos = gps_stream.get()
pos_mod = gps_mod_stream.last()
self.assertAlmostEqual(pos['x'], 10.0, delta=precision)
self.assertAlmostEqual(pos['y'], 8.0, delta=precision)
self.assertAlmostEqual(pos['z'], 0.1, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 4617522.748, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 4397221.061, delta=precision)
self.assertAlmostEqual(pos_mod['z'], 158481.296875, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(ECEFModifierTest)