Source code for base.xyw_testing

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

import sys
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, x, y, w, t): s.publish({'x' : x, 'y' : y, 'w' : w}) sleep(t) s.publish({'x' : 0.0, 'y' : 0.0, 'w' : 0.0}) sleep(0.1)
[docs]class XYW_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() pose = Pose() pose.translate(z=-0.10) # atrv base is 10cm over ground robot.append(pose) pose.add_stream('socket') motion = MotionXYW('motion') robot.append(motion) motion.add_stream('socket') motion.add_service('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_xyw_controller(self): with Morse() as morse: precision=0.08 # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = morse.robot.pose pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) # v_w socket xyw = morse.robot.motion send_speed(xyw, 1.0, 0.0, 0.0, 2.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=precision) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_speed(xyw, 0.0, -1.0, 0.0, 2.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=precision) self.assertAlmostEqual(pose['y'], -2.0, delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_speed(xyw, -1.0, 1.0, 0.0, 2.0) pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) send_speed(xyw, 1.0, 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'], 4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_speed(xyw, 0.5, 0.0, -math.pi/8.0, 12.0) pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) send_speed(xyw, -2.0, 0.0, math.pi/2.0, 3.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.1) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.1) self.assertAlmostEqual(pose['z'], 0.0, delta=0.1) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.1) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1) ########################## Run these tests ##########################
if __name__ == "__main__": import unittest from morse.testing.testing import MorseTestRunner suite = unittest.TestLoader().loadTestsFromTestCase(XYW_Test) sys.exit(not MorseTestRunner().run(suite).wasSuccessful())