1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
|
#! /usr/bin/env python
"""
This script tests the Collision sensor.
"""
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_speed(s, sim, v=0, w=0, t=0):
s.publish({'v': v, 'w': w})
if t:
sim.sleep(t)
s.publish({'v': 0.0, 'w': 0.0})
class CollisionTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API. """
dala = ATRV()
dala.properties(obstacle=1)
robot = ATRV()
motion = MotionVW()
motion.add_stream('socket')
robot.append(motion)
collision = Collision()
collision.properties(only_objects_with_property="obstacle")
collision.add_stream('socket')
collision.translate(x = 0.7, z = 0.2)
robot.append(collision)
robot.translate(x = -3.0)
env = Environment('empty', fastmode = True)
def test_collision(self):
with Morse() as sim:
collision = sim.robot.collision.get(timeout=0.1)
self.assertEqual(collision, None)
send_speed(sim.robot.motion, sim, 1.0, 0.0, 1.0)
collision = sim.robot.collision.get(timeout=0.1)
self.assertEqual(collision, None)
send_speed(sim.robot.motion, sim, 1.0, 0.0)
sim.sleep(1.0)
collision = sim.robot.collision.get(timeout=0.1)
self.assertNotEqual(collision, None)
self.assertEqual(collision['objects'], "dala")
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(CollisionTest)
|
