Source code for base.radar_altimeter_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 math
from pymorse import Morse

[docs]class RadarAltimeterTest(MorseTestCase):
[docs] def setUpEnv(self): robot = RMax('robot') robot.translate(0.0, 0.0, 20.0) teleport = Teleport() teleport.add_stream('socket') robot.append(teleport) altimeter = RadarAltimeter() robot.append(altimeter) altimeter.add_stream('socket') altimeter.properties(MaxRange = 25.0) env = Environment('indoors-1/boxes', fastmode = True) env.add_service('socket') ground = bpymorse.get_object('Ground') ground.game.use_actor = True
[docs] def test_teleport(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: teleport_stream = morse.robot.teleport altimeter_stream = morse.robot.altimeter precision = 0.01 altitude = altimeter_stream.get() self.assertAlmostEquals(altitude['z'], 20.0, delta = precision) teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 15.0, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0}) morse.sleep(0.1) altitude = altimeter_stream.get() self.assertAlmostEquals(altitude['z'], 15.0, delta = precision) teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 30.0, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0}) morse.sleep(0.1) altitude = altimeter_stream.get() self.assertEqual(altitude['z'], float('inf')) teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 12.0, 'yaw': 0.0, 'pitch': math.pi/2, 'roll': math.pi/2}) morse.sleep(0.1) altitude = altimeter_stream.get() self.assertAlmostEquals(altitude['z'], 12.0, delta = precision) # Goes on top on the red box, size ~1.8m teleport_stream.publish({'x': -7.5, 'y': 0.0, 'z': 15.0, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0}) morse.sleep(0.1) altitude = altimeter_stream.get() self.assertAlmostEquals(altitude['z'], 13.14, delta = precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(RadarAltimeterTest)