#! /usr/bin/env python
"""
This script tests the Dala robot with a v, omega actuator doing a spiral motion
"""
import sys
import socket
import json
import math
from time import sleep
from morse.testing.testing import MorseTestCase
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]def send_speed(s, v, w, t):
s.send(json.dumps({'v' : v, 'w' : w}).encode())
sleep(t)
s.send(json.dumps({'v' : 0.0, 'w' : 0.0}).encode())
sleep(1)
[docs]def send_service_speed(s, v, w, t):
s.rpc('MotionVW', 'set_speed', v, w)
sleep(t)
s.rpc('MotionVW', 'stop')
sleep(1)
[docs]class Spiral_Test(MorseTestCase):
[docs] def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV()
robot.translate(z=0.1)
pose = Pose('Pose')
robot.append(pose)
pose.add_stream('socket')
pose.add_stream('text')
motion = MotionVW('MotionVW')
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
[docs] def test_vw_controller(self):
with Morse() as morse:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = morse.stream('Pose')
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.1, delta=0.03)
else:
self.assertAlmostEqual(coord, 0.0, delta=0.03)
# v_w socket
port = morse.get_stream_port('MotionVW')
v_w_client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
v_w_client.connect(('localhost', port))
send_speed(v_w_client, 0.0, -math.pi/4.0, 2.0)
pose = pose_stream.get()
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['z'], 0.1, delta=0.15)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
send_speed(v_w_client, 0.0, math.pi/4.0, 2.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.1, delta=0.15)
else:
self.assertAlmostEqual(coord, 0.0, delta=0.15)
# PART ONE
send_speed(v_w_client, 0.5, -math.pi/8.0, 4.0)
pose = pose_stream.get()
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.20)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20)
# PART TWO
send_speed(v_w_client, 0.5, -math.pi/16.0, 8.0)
"""
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['y'], -8.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['yaw'], -math.pi, delta=0.20)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20)
"""
send_speed(v_w_client, 0.5, -math.pi/32.0, 16.0)
"""
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], -4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['yaw'], math.pi/2.0, delta=0.20)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20)
"""
[docs] def X_test_vw_service_controller(self):
#def test_vw_service_controller(self):
with Morse() as morse:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = morse.stream('Pose')
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.02)
else:
self.assertAlmostEqual(coord, 0.0, delta=0.02)
send_service_speed(morse, 1.0, 0.0, 2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 2.0, delta=0.15)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['yaw'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
send_service_speed(morse, -1.0, 0.0, 2.0)
pose = pose_stream.get()
for key,coord in pose.items():
if key == 'z':
self.assertAlmostEqual(coord, 0.10, delta=0.15)
else:
self.assertAlmostEqual(coord, 0.0, delta=0.15)
send_service_speed(morse, 1.0, -math.pi/4.0, 2.0)
pose = pose_stream.get()
print ("POSE RECEIVED: %s" % pose)
# for non-null w, we have r = v / w
self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.15)
self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.15)
self.assertAlmostEqual(pose['z'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(Spiral_Test)
