#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""
import sys
import math
from morse.testing.testing import MorseMoveTestCase
from pymorse import Morse
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
from morse.builder import *
except ImportError:
pass
[docs]class Velocity_Test(MorseMoveTestCase):
[docs] def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV()
motion = MotionXYW()
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
vel = Velocity()
robot.append(vel)
vel.add_stream('socket')
vel_pos = Velocity()
robot.append(vel_pos)
vel_pos.add_stream('socket')
vel_pos.properties(ComputationMode = 'Position')
vel_pi = Velocity()
robot.append(vel_pi)
vel_pi.rotate(z = math.pi / 2, y = math.pi / 2)
vel_pi.add_stream('socket')
vel_pos_pi = Velocity()
robot.append(vel_pos_pi)
vel_pos_pi.rotate(z = math.pi / 2, y = math.pi / 2)
vel_pos_pi.add_stream('socket')
vel_pos_pi.properties(ComputationMode = 'Position')
env = Environment('empty', fastmode = True)
env.add_service('socket')
[docs] def assert_velocity(self, morse, command, expected):
delta = 0.1
self.xyw.publish(command)
morse.sleep(0.1)
vel = self.vel_stream.last()
vel_pos = self.vel_pos_stream.last()
vel_pi = self.vel_pi_stream.last()
vel_pos_pi = self.vel_pos_pi_stream.last()
self.assertAlmostEqual(vel['linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel['linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel['linear_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel['angular_velocity'][0], expected[3], delta = delta)
self.assertAlmostEqual(vel['angular_velocity'][1], expected[4], delta = delta)
self.assertAlmostEqual(vel['angular_velocity'][2], expected[5], delta = delta)
self.assertAlmostEqual(vel['world_linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel['world_linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel['world_linear_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pos['linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel_pos['linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel_pos['linear_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pos['angular_velocity'][0], expected[3], delta = delta)
self.assertAlmostEqual(vel_pos['angular_velocity'][1], expected[4], delta = delta)
self.assertAlmostEqual(vel_pos['angular_velocity'][2], expected[5], delta = delta)
self.assertAlmostEqual(vel_pos['world_linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel_pos['world_linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel_pos['world_linear_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pi['linear_velocity'][0], expected[2], delta = delta)
self.assertAlmostEqual(vel_pi['linear_velocity'][1], - expected[0], delta = delta)
self.assertAlmostEqual(vel_pi['linear_velocity'][2], expected[1], delta = delta)
self.assertAlmostEqual(vel_pi['angular_velocity'][0], - expected[5], delta = delta)
self.assertAlmostEqual(vel_pi['angular_velocity'][1], expected[3], delta = delta)
self.assertAlmostEqual(vel_pi['angular_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pi['world_linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel_pi['world_linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel_pi['world_linear_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pos_pi['linear_velocity'][0], expected[2], delta = delta)
self.assertAlmostEqual(vel_pos_pi['linear_velocity'][1], - expected[0], delta = delta)
self.assertAlmostEqual(vel_pos_pi['linear_velocity'][2], expected[1], delta = delta)
self.assertAlmostEqual(vel_pos_pi['angular_velocity'][0], - expected[5], delta = delta)
self.assertAlmostEqual(vel_pos_pi['angular_velocity'][1], expected[3], delta = delta)
self.assertAlmostEqual(vel_pos_pi['angular_velocity'][2], expected[2], delta = delta)
self.assertAlmostEqual(vel_pos_pi['world_linear_velocity'][0], expected[0], delta = delta)
self.assertAlmostEqual(vel_pos_pi['world_linear_velocity'][1], expected[1], delta = delta)
self.assertAlmostEqual(vel_pos_pi['world_linear_velocity'][2], expected[2], delta = delta)
[docs] def test_velocity_sensor(self):
with Morse() as morse:
self.xyw = morse.robot.motion
self.vel_stream = morse.robot.vel
self.vel_pos_stream = morse.robot.vel_pos
self.vel_pi_stream = morse.robot.vel_pi
self.vel_pos_pi_stream = morse.robot.vel_pos_pi
self.assert_velocity(morse, {"x": 1.0, "y": 0.0, "w": 0.0},
[1.0, 0.0, 0.0, 0.0, 0.0, 0.0])
self.assert_velocity(morse, {"x": 0.0, "y": 0.0, "w": 0.0},
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
self.assert_velocity(morse, {"x": 0.0, "y": -1.0, "w": 0.0},
[0.0, -1.0, 0.0, 0.0, 0.0, 0.0])
self.assert_velocity(morse, {"x": 0.0, "y": 0.0, "w": 0.0},
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
self.assert_velocity(morse, {"x": 1.0, "y": 0.0, "w": 1.0},
[1.0, 0.0, 0.0, 0.0, 0.0, 1.0])
self.assert_velocity(morse, {"x": 0.0, "y": 0.0, "w": 0.0},
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(Velocity_Test)
