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#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""
import sys
from morse.testing.testing import MorseTestCase
# 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
from pymorse import Morse
class BuilderWheeledRobotTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = SegwayRMP400()
p1 = Pose()
p1.translate(x=1.0)
robot.append(p1)
p2 = Pose()
robot.append(p2)
p2.translate(x=2.0)
robot.add_default_interface('socket')
env = Environment('empty', fastmode = True)
def test_correct_position(self):
""" Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
"""
with Morse() as morse:
p1 = morse.robot.p1
p2 = morse.robot.p2
delta = 0.05
pose1 = p1.get()
self.assertAlmostEquals(pose1['x'], 1.0, delta=delta)
self.assertAlmostEquals(pose1['y'], 0.0, delta=delta)
self.assertAlmostEquals(pose1['yaw'], 0.0, delta=delta)
pose2 = p2.get()
self.assertAlmostEquals(pose2['x'], 2.0, delta=delta)
self.assertAlmostEquals(pose2['y'], 0.0, delta=delta)
self.assertAlmostEquals(pose2['yaw'], 0.0, delta=delta)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(BuilderWheeledRobotTest)
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