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#! /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
def send_pose(s, x, y):
s.publish({'x' : x, 'y' : y, 'z' : 0.0, 'yaw' : 0.0, 'pitch' : 0.0, 'roll' : 0.0})
class BatteryTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
battery = Battery()
battery.add_stream('socket')
battery.properties(DischargingRate = 10.0)
robot.append(battery)
teleport = Teleport()
teleport.add_stream('socket')
robot.append(teleport)
charging_zone = Zone(type = 'Charging')
charging_zone.size = [5.0, 5.0, 5.0]
charging_zone.translate(x = 10.0, z = 2.0)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_read_battery(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
bat_stream = morse.robot.battery
teleport_stream = morse.robot.teleport
bat = bat_stream.get()
cur_bat = bat['charge']
morse.sleep(2.0)
bat = bat_stream.get()
# Can't be really precise as we don't have exact timestamp
# about when we get data
self.assertAlmostEqual(bat['charge'] - cur_bat, -20.0, delta=0.5)
cut_bat = bat['charge']
self.assertEqual(bat['status'], 'Discharging')
# Now the battery must be empty
morse.sleep(10.0)
bat = bat_stream.get()
self.assertAlmostEqual(bat['charge'], 0.0, delta=0.001)
self.assertEqual(bat['status'], 'Discharging')
# Teleport in the charging zone and check the battery charge
# grows up
send_pose(teleport_stream, 7.0, 0.0)
morse.sleep(2.0)
bat = bat_stream.get()
self.assertAlmostEqual(bat['charge'], 20.0, delta=0.5)
self.assertEqual(bat['status'], 'Charging')
# Teleport out of the charging zone, the battery charge must
# decrease
send_pose(teleport_stream, 2.0, 0.0)
morse.sleep(2.5)
bat = bat_stream.get()
self.assertAlmostEqual(bat['charge'], 0.0, delta=0.001)
self.assertEqual(bat['status'], 'Discharging')
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(BatteryTest)
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