Source code for base.vw_testing

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

import sys
import math
from morse.testing.testing import MorseMoveTestCase
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]def send_speed(s, morse, v, w, t): s.publish({'v' : v, 'w' : w}) morse.sleep(t + 0.1) s.publish({'v' : 0.0, 'w' : 0.0})
[docs]def send_service_speed(s, morse, v, w, t): s.set_speed(v, w) morse.sleep(t) s.stop()
[docs]class VW_Test(MorseMoveTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() pose = Pose() robot.append(pose) pose.add_stream('socket') motion = MotionVW() robot.append(motion) motion.add_stream('socket') motion.add_service('socket') teleport = Teleport() robot.append(teleport) teleport.add_stream('socket') env = Environment('empty', fastmode = True) env.show_framerate(True) env.add_service('socket')
[docs] def test_vw_controller(self): with Morse() as simu: simu.deactivate('robot.teleport') precision = 0.1 # Read the start position, it must be (0.0, 0.0, 0.0) self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) v_w = simu.robot.motion send_speed(v_w, simu, 1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(v_w, simu, -1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(v_w, simu, 1.0, -math.pi/4.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10, -math.pi / 2.0, 0.0, 0.0], precision) send_speed(v_w, simu, 0.5, -math.pi/8.0, 12.0) self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(v_w, simu, -2.0, math.pi/2.0, 3.0) self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10, -math.pi / 2.0, 0.0, 0.0], precision*2)
[docs] def test_vw_service_controller(self): with Morse() as simu: precision = 0.10 simu.deactivate('robot.teleport') # Read the start position, it must be (0.0, 0.0, 0.0) self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) v_w = simu.robot.motion send_service_speed(v_w, simu, 1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_service_speed(v_w, simu, -1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_service_speed(v_w, simu, 1.0, -math.pi/4.0, 2.0) self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10, -math.pi / 2.0, 0.0, 0.0], precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(VW_Test)