Source code for base.multiple_ptu_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
import math
from pymorse import Morse

[docs]def send_angles(s, pan, tilt): s.publish({'pan' : pan, 'tilt' : tilt})
[docs]class MultiplePTUTest(MorseTestCase): """ Non regression test for #536 PTU related component are really tested in ptu_testing.py """
[docs] def setUpEnv(self): ptu_x = 0.2020 ptu_z = 1.4400 robot = ATRV() ptu0 = PTU() ptu0.add_stream('socket') ptu0.translate(x=ptu_x, z=ptu_z) ptu0.add_service('socket') robot.append(ptu0) posture0 = PTUPosture() posture0.add_stream('socket') ptu0.append(posture0) ptu1 = PTU() ptu1.add_stream('socket') ptu1.translate(x = 2 * ptu_x, z = 2 * ptu_z) ptu1.add_service('socket') robot.append(ptu1) posture1 = PTUPosture() posture1.add_stream('socket') ptu1.append(posture1) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_datastream(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: posture_stream0 = morse.robot.ptu0.posture0 ptu_stream0 = morse.robot.ptu0 posture_stream1 = morse.robot.ptu1.posture1 ptu_stream1 = morse.robot.ptu1 precision = 0.02 moving_precision = 0.1 posture0 = posture_stream0.get() posture1 = posture_stream1.get() self.assertAlmostEqual(posture0['pan'], 0.0, delta=precision) self.assertAlmostEqual(posture0['tilt'], 0.0, delta=precision) self.assertAlmostEqual(posture1['pan'], 0.0, delta=precision) self.assertAlmostEqual(posture1['tilt'], 0.0, delta=precision) send_angles(ptu_stream0, 1.0, 0.0) send_angles(ptu_stream1, -1.0, 0.0) morse.sleep(1.0) posture0 = posture_stream0.get() posture1 = posture_stream1.get() self.assertAlmostEqual(posture0['pan'], 1.0, delta=moving_precision) self.assertAlmostEqual(posture0['tilt'], 0.0, delta=moving_precision) self.assertAlmostEqual(posture1['pan'], -1.0, delta=moving_precision) self.assertAlmostEqual(posture1['tilt'], 0.0, delta=moving_precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(MultiplePTUTest)