Source code for base.orientation_speed_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, yaw, pitch, roll): s.publish({'yaw' : yaw, 'pitch' : pitch, 'roll' : roll})
[docs]class OrientationTest(MorseTestCase):
[docs] def setUpEnv(self): robot = RMax('robot') robot.translate(10.0, 8.0, 20.0) gyro = Gyroscope() gyro.add_stream('socket') robot.append(gyro) orientation = Orientation('orientation') orientation.add_stream('socket') orientation.properties(speed = 0.5) robot.append(orientation) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_orientation(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: gyro_stream = morse.robot.gyro orientation_stream = morse.robot.orientation precision = 0.05 angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], 0.0, delta=precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) send_angles(orientation_stream, 3.0, 0.0, 0.0) morse.sleep(1.0) angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], 0.5, delta = precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) morse.sleep(6.0) angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], 3.0, delta = precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) # Be smart on the rotation order send_angles(orientation_stream, -3.0, 0.0, 0.0) morse.sleep(1.0) angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], -3.0, delta = precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) # Turn in the order direction send_angles(orientation_stream, 2.0, 0.0, 0.0) morse.sleep(1.0) angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], 2.8, delta = precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) morse.sleep(2.0) angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], 2.0, delta = precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(OrientationTest)