Source code for base.orientation_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') robot.append(orientation) pose = Pose() pose.add_stream('socket') robot.append(pose) 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 pose_stream = morse.robot.pose orientation_stream = morse.robot.orientation precision = 0.12 angles = gyro_stream.get() pose = pose_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) 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'], 10.0, delta=precision) self.assertAlmostEqual(pose['y'], 8.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=precision) # Position does not change, only yaw is modified send_angles(orientation_stream, math.pi/2, 0.0, 0.0) morse.sleep(0.1) pose = pose_stream.get() angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], math.pi/2, delta=precision) self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision) self.assertAlmostEqual(angles['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], math.pi/2, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) self.assertAlmostEqual(pose['x'], 10.0, delta=precision) self.assertAlmostEqual(pose['y'], 8.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=precision) # Complete orientation settings send_angles(orientation_stream, -math.pi/2, math.pi/8, 0.89) morse.sleep(0.1) pose = pose_stream.get() angles = gyro_stream.get() self.assertAlmostEqual(angles['yaw'], -math.pi/2, delta=precision) self.assertAlmostEqual(angles['pitch'], math.pi/8, delta=precision) self.assertAlmostEqual(angles['roll'], 0.89, delta=precision) self.assertAlmostEqual(pose['yaw'], -math.pi/2, delta=precision) self.assertAlmostEqual(pose['pitch'], math.pi/8, delta=precision) self.assertAlmostEqual(pose['roll'], 0.89, delta=precision) self.assertAlmostEqual(pose['x'], 10.0, delta=precision) self.assertAlmostEqual(pose['y'], 8.0, delta=precision) self.assertAlmostEqual(pose['z'], 20.0, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(OrientationTest)