Source code for base.waypoint_testing

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

import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse, MorseServicePreempted

logger = logging.getLogger("morsetesting.general")
# 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 Waypoints_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV("robot") pose = Pose('pose') pose.translate(z=-0.10) # atrv body robot.append(pose) pose.add_stream('socket') motion = Waypoint('motion') robot.append(motion) motion.add_stream('socket') motion.add_service('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_waypoint_datastream(self): """ This test is guaranteed to be started only when the simulator is ready. """ with Morse() as simu: # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = simu.robot.pose pose = pose_stream.get() for key, coord in pose.items(): if key != 'timestamp': self.assertAlmostEqual(coord, 0.0, delta=0.02) # waypoint controller motion = simu.robot.motion motion.publish({'x' : 4.0, 'y': 2.0, 'z': 0.0, 'tolerance' : 0.5, 'speed' : 1.0}) simu.sleep(10) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 4.0, delta=0.5) self.assertAlmostEqual(pose['y'], 2.0, delta=0.5) # test tolerance parameter motion.publish({'x' : 0.0, 'y': 0.0, 'z': 0.0, 'tolerance' : 1.0, 'speed' : 1.0}) simu.sleep(10) pose = pose_stream.get() distance_goal = math.sqrt( pose['x'] * pose['x'] + pose['y'] * pose['y']) self.assertLess(distance_goal, 1.0) self.assertGreater(distance_goal, 0.5)
[docs] def test_waypoint_services(self): with Morse() as simu: # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = simu.robot.pose pose = pose_stream.get() for key, coord in pose.items(): if key != 'timestamp': self.assertAlmostEqual(coord, 0.0, delta=0.02) logger.info("Moving 2m ahead...") simu.robot.motion.goto(2.0, 0.0, 0.0, 0.1, 1.0).result() # wait for completion pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=0.1) self.assertAlmostEqual(pose['y'], 0.0, delta=0.1) logger.info("Ok.") action = simu.robot.motion.goto(4.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion logger.info("Moving for 1 sec...") simu.sleep(1) pose = pose_stream.get() #should have done 1m self.assertAlmostEqual(pose['x'], 3.0, delta=0.15) logger.info("Ok, reached correct position") self.assertTrue(action.running()) self.assertFalse(action.done()) logger.info("Cancelling motion and waiting for 0.5 sec...") action.cancel() simu.sleep(0.1) self.assertFalse(action.running()) self.assertTrue(action.done()) with self.assertRaises(MorseServicePreempted): action.result() simu.sleep(0.5) pose = pose_stream.get() #should not have moved self.assertAlmostEqual(pose['x'], 3.0, delta=0.15) logger.info("Ok, did not move") logger.info("Moving again, waiting for 2 sec, and ensuring the action terminate") action = simu.robot.motion.goto(4.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion simu.sleep(2) self.assertTrue(action.done()) self.assertFalse(action.running()) # Stop will stop the robot, but do not erase current goal action = simu.robot.motion.goto(6.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion logger.info("Moving for 1 sec...") simu.sleep(1) self.assertFalse(action.done()) self.assertTrue(action.running()) status = simu.robot.motion.get_status().result() self.assertEqual(status, "Transit") simu.robot.motion.stop().result() # Stop does not change the fact that the goto is pending, # but stop the move self.assertFalse(action.done()) self.assertTrue(action.running()) status = simu.robot.motion.get_status().result() self.assertEqual(status, "Stop") simu.sleep(0.2) pose = pose_stream.get() _x = pose['x'] self.assertAlmostEqual(pose['x'], 5.2, delta=0.20) simu.sleep(0.5) pose = pose_stream.get() #should not have moved self.assertAlmostEqual(pose['x'], _x, delta=0.03) logger.info("Ok, did not move") # now resume the move simu.robot.motion.resume().result() simu.sleep(0.5) # must move now pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 5.7, delta=0.20) status = simu.robot.motion.get_status().result() self.assertEqual(status, "Transit") # wait for the end of the move simu.sleep(1.5) self.assertTrue(action.done()) self.assertFalse(action.running()) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 6.0, delta=0.15) status = simu.robot.motion.get_status().result() self.assertEqual(status, "Arrived") ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(Waypoints_Test)