Source code for base.feet_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]class FeetModifierTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() robot.translate(10.0, 8.0, 0.0) pose = Pose() pose.add_stream('socket') robot.append(pose) pose_mod = Pose() pose_mod.add_stream('socket') pose_mod.alter('feet') robot.append(pose_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('feet') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_feet_modifier(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: pose_stream = morse.robot.pose pose_mod_stream = morse.robot.pose_mod teleport_stream = morse.robot.teleport teleport_mod_stream = morse.robot.teleport_mod pos = pose_stream.get() pos_mod = pose_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'], 32.8084, delta=precision) self.assertAlmostEqual(pos_mod['y'], 26.246, delta=precision) self.assertAlmostEqual(pos_mod['z'], .3280, 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 = pose_stream.get() pos_mod = pose_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'], 328.084, delta=precision) self.assertAlmostEqual(pos_mod['y'], 656.168, delta=precision) self.assertAlmostEqual(pos_mod['z'], 164.042, delta=precision) morse.deactivate('robot.teleport') teleport_mod_stream.publish({'x': 32.8084, 'y': 26.246, 'z': 0.3280, 'yaw' : 0.0, 'pitch' : 0.0, 'roll': 0.0}) morse.sleep(0.03) pos = pose_stream.get() pos_mod = pose_mod_stream.last() self.assertAlmostEqual(pos['x'], 10.0, delta=0.15) self.assertAlmostEqual(pos['y'], 8.0, delta=0.15) self.assertAlmostEqual(pos['z'], 0.1, delta=0.15) self.assertAlmostEqual(pos_mod['x'], 32.8084, delta=precision) self.assertAlmostEqual(pos_mod['y'], 26.246, delta=precision) self.assertAlmostEqual(pos_mod['z'], .3280, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(FeetModifierTest)