Source code for base.pose_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 PoseTest(MorseTestCase):
[docs] def setUpEnv(self): print("Adding a robot...") robot = ATRV() pose = Pose() pose.add_stream('socket') pose.translate(z=-0.10) # atrv sensor is at 10cm on the groud robot.append(pose) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_base_service_connection(self): """ Simply tests if the simulator is reachable by its socket interface. """ morse = Morse() morse.close()
[docs] def test_get_pose_streams_service(self): """ Tests if we can retrieve the list of published data streams. """ morse = Morse() self.assertEquals(set(morse.streams()), set(["robot.pose"])) morse.close()
[docs] def test_read_pose(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 = pose_stream.get() for key, coord in pose.items(): if key != 'timestamp': self.assertAlmostEqual(coord, 0.0, 2) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(PoseTest)