Source code for base.magnetometer_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 MagnemoterTest(MorseTestCase):
[docs] def setUpEnv(self): robot = Morsy() mag = Magnetometer() mag.add_stream('socket') robot.append(mag) mag.properties(date = 2015.0) teleport = Teleport() teleport.add_stream('socket') teleport.alter('geodetic') robot.append(teleport) env = Environment('empty', fastmode = True) env.add_service('socket') env.properties(longitude = 43.6, latitude = 1.4333, altitude = 135.0)
def _teleport_and_test(self, x, y, z, mag_x, mag_y, mag_z): precision = 0.1 self.teleport_stream.publish({'x': x, 'y': y, 'z' : z, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0}) self.m.sleep(0.1) mag = self.mag_stream.get() self.assertAlmostEquals(mag['x'], mag_x, delta = precision) self.assertAlmostEquals(mag['y'], mag_y, delta = precision) self.assertAlmostEquals(mag['z'], mag_z, delta = precision)
[docs] def test_geodetic_modifier(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: self.m = morse self.mag_stream = morse.robot.mag self.teleport_stream = morse.robot.teleport # Tests from WMM2015 self._teleport_and_test(0, 80, 0, 6627.1, -445.9, 54432.3) self._teleport_and_test(120, 0, 0, 39518.2, 392.9, -11252.4) self._teleport_and_test(240, -80, 0, 5797.3, 15761.1, -52919.1) self._teleport_and_test(0, 80, 100000, 6314.3, -471.6, 52269.8) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(MagnemoterTest)