Source code for robots.segway.spiral_dala

#! /usr/bin/env python
"""
This script tests the Dala robot with a v, omega actuator doing a spiral motion
"""

import sys
import socket
import json
import math
from time import sleep
from morse.testing.testing import MorseTestCase
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, v, w, t): s.send(json.dumps({'v' : v, 'w' : w}).encode()) sleep(t) s.send(json.dumps({'v' : 0.0, 'w' : 0.0}).encode()) sleep(1)
[docs]def send_service_speed(s, v, w, t): s.rpc('MotionVW', 'set_speed', v, w) sleep(t) s.rpc('MotionVW', 'stop') sleep(1)
[docs]class Spiral_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() robot.translate(z=0.1) pose = Pose('Pose') robot.append(pose) pose.add_stream('socket') pose.add_stream('text') motion = MotionVW('MotionVW') robot.append(motion) motion.add_stream('socket') motion.add_service('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_vw_controller(self): with Morse() as morse: # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = morse.stream('Pose') pose = pose_stream.get() for key,coord in pose.items(): if key == 'z': self.assertAlmostEqual(coord, 0.1, delta=0.03) else: self.assertAlmostEqual(coord, 0.0, delta=0.03) # v_w socket port = morse.get_stream_port('MotionVW') v_w_client = socket.socket(socket.AF_INET, socket.SOCK_STREAM) v_w_client.connect(('localhost', port)) send_speed(v_w_client, 0.0, -math.pi/4.0, 2.0) pose = pose_stream.get() # for non-null w, we have r = v / w self.assertAlmostEqual(pose['x'], 0.0, delta=0.15) self.assertAlmostEqual(pose['y'], 0.0, delta=0.15) self.assertAlmostEqual(pose['z'], 0.1, delta=0.15) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15) send_speed(v_w_client, 0.0, math.pi/4.0, 2.0) pose = pose_stream.get() for key,coord in pose.items(): if key == 'z': self.assertAlmostEqual(coord, 0.1, delta=0.15) else: self.assertAlmostEqual(coord, 0.0, delta=0.15) # PART ONE send_speed(v_w_client, 0.5, -math.pi/8.0, 4.0) pose = pose_stream.get() # for non-null w, we have r = v / w self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['z'], 0.0, delta=0.20) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.20) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20) # PART TWO send_speed(v_w_client, 0.5, -math.pi/16.0, 8.0) """ pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 0.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['y'], -8.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['z'], 0.0, delta=0.20) self.assertAlmostEqual(pose['yaw'], -math.pi, delta=0.20) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20) """ send_speed(v_w_client, 0.5, -math.pi/32.0, 16.0) """ pose = pose_stream.get() self.assertAlmostEqual(pose['x'], -4.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.20) self.assertAlmostEqual(pose['z'], 0.0, delta=0.20) self.assertAlmostEqual(pose['yaw'], math.pi/2.0, delta=0.20) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.20) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.20) """
[docs] def X_test_vw_service_controller(self): #def test_vw_service_controller(self): with Morse() as morse: # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = morse.stream('Pose') pose = pose_stream.get() for key,coord in pose.items(): if key == 'z': self.assertAlmostEqual(coord, 0.10, delta=0.02) else: self.assertAlmostEqual(coord, 0.0, delta=0.02) send_service_speed(morse, 1.0, 0.0, 2.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=0.15) self.assertAlmostEqual(pose['y'], 0.0, delta=0.15) self.assertAlmostEqual(pose['z'], 0.0, delta=0.15) self.assertAlmostEqual(pose['yaw'], 0.0, delta=0.15) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15) send_service_speed(morse, -1.0, 0.0, 2.0) pose = pose_stream.get() for key,coord in pose.items(): if key == 'z': self.assertAlmostEqual(coord, 0.10, delta=0.15) else: self.assertAlmostEqual(coord, 0.0, delta=0.15) send_service_speed(morse, 1.0, -math.pi/4.0, 2.0) pose = pose_stream.get() print ("POSE RECEIVED: %s" % pose) # for non-null w, we have r = v / w self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.15) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.15) self.assertAlmostEqual(pose['z'], 0.0, delta=0.15) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.15) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.15) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.15) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(Spiral_Test)