Source code for base.rotorcraft_waypoint_testing

#! /usr/bin/env python
"""
This script tests the waypoints actuator, both the data and service api
"""

import sys
from morse.testing.testing import MorseTestCase
from pymorse import Morse

# 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

[docs]class RotorcraftWaypoints_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = Quadrotor('robot') robot.translate(x = -1.24, y=1.70, z=1.81) pose = Pose() robot.append(pose) pose.add_stream('socket') motion = RotorcraftWaypoint('motion') robot.append(motion) motion.add_stream('socket') motion.add_service('socket') wp_target = Sphere('wp_target') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_waypoint_controller(self): """ This test is guaranteed to be started only when the simulator is ready. """ with Morse() as morse: pose_stream = morse.robot.pose pose = pose_stream.get() self.assertAlmostEqual(pose['x'], -1.24, delta=0.05) self.assertAlmostEqual(pose['y'], 1.70, delta=0.05) self.assertAlmostEqual(pose['z'], 1.81, delta=0.05) self.assertAlmostEqual(pose['yaw'], 0, delta=0.05) wp_client = morse.robot.motion wp_client.publish({'x' : 10.0, 'y': 5.0, 'z': 10.0, 'tolerance' : 0.5, 'yaw' : 1.0}) morse.sleep(10) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 10.0, delta=0.5) self.assertAlmostEqual(pose['y'], 5.0, delta=0.5) self.assertAlmostEqual(pose['z'], 10.0, delta=0.5) self.assertAlmostEqual(pose['yaw'], 1.0, delta=0.05)
[docs] def test_waypoint_service_controller(self): with Morse() as morse: pose_stream = morse.robot.pose pose = pose_stream.get() self.assertAlmostEqual(pose['x'], -1.24, delta=0.05) self.assertAlmostEqual(pose['y'], 1.70, delta=0.05) self.assertAlmostEqual(pose['z'], 1.81, delta=0.05) self.assertAlmostEqual(pose['yaw'], 0, delta=0.05) morse.rpc('robot.motion', 'goto', 10.0, 5.0, 10.0, 1.0, 0.5) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 10.0, delta=0.5) self.assertAlmostEqual(pose['y'], 5.0, delta=0.5) self.assertAlmostEqual(pose['z'], 10.0, delta=0.5) self.assertAlmostEqual(pose['yaw'], 1.0, delta=0.05) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(RotorcraftWaypoints_Test)