Source code for base.renaming_testing

#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""

import sys
from morse.testing.testing import MorseTestCase

# Include this import to be able to use your test file as a regular 
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
    from morse.builder import *
except ImportError:
    pass

from pymorse import Morse

[docs]class RenamingTest(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ class MyMorsy(Morsy): def __init__(self, name = None): Morsy.__init__(self, name) self.arm = KukaLWR() self.append(self.arm) self.pose = Pose() self.arm.append(self.pose) morsy = Morsy() arm = KukaLWR() arm.name = 'my_kuka' morsy.append(arm) pose = Pose('my_pose') arm.append(pose) robot2 = Morsy('mana') arm = KukaLWR() robot2.append(arm) pose = Pose() pose.name = 'my_pose2' arm.append(pose) robot3 = Morsy() robot3.name = 'dala' arm = KukaLWR('my_kuka') robot3.append(arm) pose = Pose() arm.append(pose) # class based robot4 = MyMorsy() robot5 = MyMorsy('foo') robot6 = MyMorsy() robot6.name = 'bar' # looping for i in range(10): m = Morsy() arm = KukaLWR() m.append(arm) pose = Pose() arm.append(pose) AbstractComponent.close_context() env = Environment('empty', fastmode = True) env.create()
[docs] def test_renaming(self): """ Tests the simulator can return the list of robots This test is guaranteed to be started only when the simulator is ready. """ with Morse() as morse: p1 = morse.morsy.my_kuka.my_pose p2 = morse.mana.arm.my_pose2 p3 = morse.dala.my_kuka.pose p4 = morse.robot4.arm.pose p5 = morse.foo.arm.pose p6 = morse.bar.arm.pose p7 = morse.m.arm.pose p8 = morse.m_001.arm.pose p9 = morse.m_002.arm.pose p10 = morse.m_003.arm.pose # ... self.assertEqual(len(morse.ms), 10) self.assertEqual(morse.m, morse.ms[0]) self.assertEqual(morse.m_001, morse.ms[1]) self.assertEqual(morse.m_002, morse.ms[2]) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(RenamingTest)