Source code for base.utm_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 sys
from pymorse import Morse


[docs]class UTMModifierTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() robot.translate(10.0, 8.0, 0.0) gps = GPS() gps.add_stream('socket') robot.append(gps) gps_mod = GPS() gps_mod.add_stream('socket') gps_mod.alter('UTM', z_offset=421) robot.append(gps_mod) env = Environment('empty', fastmode = True) env.add_service('socket') # Need to put float greater than 10000 in string env.properties(UTMXOffset='123456789.0', UTMYOffset=-4242.0)
[docs] def test_read_gps(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: gps_stream = morse.robot.gps gps_mod_stream = morse.robot.gps_mod pos = gps_stream.get() pos_mod = gps_mod_stream.get() precision = 0.02 self.assertAlmostEqual(pos['x'], 10.0, delta=precision) self.assertAlmostEqual(pos['y'], 8.0, delta=precision) # Z = 0.1 : pose of the ATRV's center relative to the world self.assertAlmostEqual(pos['z'], 0.1, delta=precision) self.assertAlmostEqual(pos_mod['x'], 10.0 + 123456789.0, delta=precision) self.assertAlmostEqual(pos_mod['y'], 8.0 + -4242.0, delta=precision) self.assertAlmostEqual(pos_mod['z'], 421.1, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(UTMModifierTest)