Source code for base.search_and_rescue_testing

#! /usr/bin/env python
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, MorseServiceFailed

[docs]def send_dest(s, morse, x, y, yaw): s.publish({'x' : x, 'y' : y, 'z' : 0, \ 'yaw' : yaw, 'pitch' : 0.0, 'roll' : 0.0}) morse.sleep(0.1)
[docs]class SearchAndRescueTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() robot.translate(z=0.2) victim_detector = SearchAndRescue() robot.append(victim_detector) victim_detector.add_stream('socket') victim_detector.add_service('socket') victim_detector.properties( Heal_range=1.0, Abilities="1,2,3,4,5", Angle = 90.0, Distance = 2.0) motion = Teleport() robot.append(motion) motion.add_stream('socket') env = Environment('empty', fastmode = True) env.properties(Temperature='25.0') env.add_service('socket') victim = Victim() victim.translate(x=10.0, y=0.0)
[docs] def test_victim_interface(self): with Morse() as morse: victim_stream = morse.robot.victim_detector teleport_client = morse.robot.motion abilities = morse.rpc('robot.victim_detector', 'get_robot_abilities') self.assertEqual(abilities, [1, 2, 3, 4, 5]) victim_status = victim_stream.get() self.assertEqual(len(victim_status['victim_dict']), 0) # Move closer of the victim but not close enough to heal it send_dest(teleport_client, morse, 8.0, 0.0, 0.0) victim_status = victim_stream.get() victim_dict = victim_status['victim_dict'] self.assertEqual(len(victim_dict), 1) self.assertEqual(victim_dict['Victim']['requirements'], [1, 2, 3]) self.assertEqual(victim_dict['Victim']['severity'], 10) severity = morse.rpc('robot.victim_detector', 'get_victim_severity') self.assertEqual(severity, 10.0) requirements = morse.rpc('robot.victim_detector', 'get_victim_requirements') self.assertEqual(requirements, [1, 2, 3]) with self.assertRaises(MorseServiceFailed): morse.rpc('robot.victim_detector', 'heal') # The victim is not detected if not in the field of view of # the radar send_dest(teleport_client, morse, 8.0, 0.0, math.pi) victim_status = victim_stream.get() victim_dict = victim_status['victim_dict'] self.assertEqual(len(victim_dict), 0) with self.assertRaises(MorseServiceFailed): morse.rpc('robot.victim_detector', 'get_victim_severity') with self.assertRaises(MorseServiceFailed): morse.rpc('robot.victim_detector', 'get_victim_requirements') with self.assertRaises(MorseServiceFailed): morse.rpc('robot.victim_detector', 'heal') # Move close enough to be able to heal it send_dest(teleport_client, morse, 9.2, 0.0, 0.0) victim_status = victim_stream.get() victim_dict = victim_status['victim_dict'] self.assertEqual(len(victim_dict), 1) self.assertEqual(victim_dict['Victim']['requirements'], [1, 2, 3]) self.assertEqual(victim_dict['Victim']['severity'], 10) severity = morse.rpc('robot.victim_detector', 'get_victim_severity') self.assertEqual(severity, 10.0) requirements = morse.rpc('robot.victim_detector', 'get_victim_requirements') self.assertEqual(requirements, [1, 2, 3]) morse.rpc('robot.victim_detector', 'heal') morse.sleep(0.2) victim_status = victim_stream.get() victim_dict = victim_status['victim_dict'] self.assertEqual(len(victim_dict), 1) self.assertEqual(victim_dict['Victim']['requirements'], []) self.assertEqual(victim_dict['Victim']['severity'], 0) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(SearchAndRescueTest)