Source code for base.thermometer_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
from pymorse import Morse

[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 ThermometerTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() robot.translate(z=0.2) thermometer = Thermometer() robot.append(thermometer) thermometer.properties(DefaultTemperature='25.0') thermometer.add_interface('socket') motion = Teleport() robot.append(motion) motion.add_interface('socket') env = Environment('land-1/rosace_1', fastmode = True) env.add_service('socket')
[docs] def test_temperature(self): with Morse() as morse: temp_stream = morse.robot.thermometer teleport_client = morse.robot.motion o = temp_stream.get() self.assertAlmostEqual(o['temperature'], 25.0, delta=0.01) send_dest(teleport_client, morse, 40.0, 0.0, 0.0) # We are nearer of the fire so the temperature is expected # to be hotter. o = temp_stream.get() temp = o['temperature'] self.assertGreater(temp, 28.0) # It must be hotter and hotter ... morse.sleep(5.0) o = temp_stream.get() self.assertGreater(o['temperature'], temp) temp = o['temperature'] morse.sleep(5.0) o = temp_stream.get() self.assertGreater(o['temperature'], temp) temp = o['temperature'] ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(ThermometerTest)