Source code for base.destination_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 os
import sys
import math
from pymorse import Morse

[docs]def send_goal(s, x, y, z): s.publish({'x' : x, 'y' : y, 'z' : z})
[docs]class DestinationTest(MorseTestCase):
[docs] def setUpEnv(self): robot = RMax('robot') robot.translate(0.0, 0.0, 20.0) pose = Pose() pose.add_stream('socket') robot.append(pose) destination = Destination('destination') robot.append(destination) destination.add_stream('socket') destination.properties(Speed=2.0, Tolerance=0.3, RemainAtDestination = True) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test(self): with Morse() as morse: pose_stream = morse.robot.pose pose = pose_stream.get() precision = 0.02 self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], 0.0, delta=precision) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=0.1) dest_client = morse.robot.destination send_goal(dest_client, 10.0, 0.0, 20.0) morse.sleep(3.0) # Only x has changed. Check that speed is respected pose = pose_stream.get() self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], 3.0 * 2.0, delta=0.1) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=0.1) morse.sleep(2.0) # Only x has changed pose = pose_stream.get() self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], 9.7, delta=0.1) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=0.1) x = pose['x'] send_goal(dest_client, x, 10.0, 20.0) morse.sleep(5.0) # Only Y has changed pose = pose_stream.get() self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], x, delta=0.1) self.assertAlmostEqual(pose['y'], 9.7, delta=0.1) self.assertAlmostEqual(pose['z'], 20.0, delta=0.1) x = pose['x'] y = pose['y'] z = pose['z'] send_goal(dest_client, x, y, 30.0) morse.sleep(5.0) # Only Z has changed # XXX precision is not really good pose = pose_stream.get() self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], x, delta=precision) self.assertAlmostEqual(pose['y'], y, delta=precision) self.assertAlmostEqual(pose['z'], 30.0, delta=0.3) send_goal(dest_client, 0, 0, 20) morse.sleep(10.0) pose = pose_stream.get() self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertLess(math.fabs(pose['x']), 0.3) self.assertLess(math.fabs(pose['y']), 0.3) self.assertLess(math.fabs(pose['z'] - 20), 0.3) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(DestinationTest)