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#! /usr/bin/env python
import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse, MorseServiceFailed
# 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
class Communication_Service_Testing(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
mana = ATRV()
minnie = ATRV()
minnie.translate(x = 10.0)
munu = ATRV()
munu.translate(x = -10.0)
env = Environment('indoors-1/boxes', fastmode=True)
env.add_service('socket')
def test_semantic_camera(self):
""" This test is guaranteed to be started only when the simulator
is ready.
"""
with Morse() as morse:
# not enough argument
with self.assertRaises(MorseServiceFailed):
res = morse.rpc('communication', 'distance_and_view')
# unknown robot does not exit
with self.assertRaises(MorseServiceFailed):
res = morse.rpc('communication', 'distance_and_view', 'mana', 'unknow_robot')
res = morse.rpc('communication', 'distance_and_view', 'mana', 'minnie')
self.assertAlmostEquals(res[0], 10.0, delta=0.01)
self.assertTrue(res[1])
res = morse.rpc('communication', 'distance_and_view', 'mana', 'munu')
self.assertAlmostEquals(res[0], 10.0, delta=0.01)
self.assertFalse(res[1])
res = morse.rpc('communication', 'distance_and_view', 'minnie', 'munu')
self.assertAlmostEquals(res[0], 20.0, delta=0.01)
self.assertFalse(res[1])
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(Communication_Service_Testing)
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