Source code for base.barometer_testing

#! /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]def send_pose(s, x, y, z): s.publish({'x' : x, 'y' : y, 'z' : z, 'yaw' : 0.0, 'pitch' : 0.0, 'roll' : 0.0})
[docs]class BarometerTest(MorseTestCase):
[docs] def setUpEnv(self): robot = Morsy() barometer = Barometer() barometer.add_stream('socket') barometer.properties(DischargingRate = 10.0) robot.append(barometer) teleport = Teleport() teleport.add_stream('socket') robot.append(teleport) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_read_barometer(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: bat_stream = morse.robot.barometer teleport_stream = morse.robot.teleport bat = bat_stream.get() self.assertAlmostEqual(bat['pressure'], 101325.0, delta = 0.1) # pressure is independant of position (x,y) send_pose(teleport_stream, 5.0, 2.0, 0.0) morse.sleep(0.01) bat = bat_stream.get() self.assertAlmostEqual(bat['pressure'], 101325.0, delta = 0.1) # Pressure computed from # http://www.digitaldutch.com/atmoscalc/ send_pose(teleport_stream, 0.0, 0.0, 100.0) morse.sleep(0.01) bat = bat_stream.get() self.assertAlmostEqual(bat['pressure'], 100129.0, delta = 0.1) send_pose(teleport_stream, 0.0, 0.0, 1000.0) morse.sleep(0.01) bat = bat_stream.get() self.assertAlmostEqual(bat['pressure'], 89871.0, delta = 0.1) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(BarometerTest)