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
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
|
#! /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 os
import sys
import math
from pymorse import Morse
def send_goal(s, x, y, z):
s.publish({'x' : x, 'y' : y, 'z' : z})
class DestinationTest(MorseTestCase):
def setUpEnv(self):
robot = RMax('robot')
robot.translate(0.0, 0.0, 20.0)
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
destination = Destination('destination')
robot.append(destination)
destination.add_stream('socket')
destination.properties(Speed=2.0, Tolerance=0.3, RemainAtDestination = True)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test(self):
with Morse() as morse:
pose_stream = morse.robot.pose
pose = pose_stream.get()
precision = 0.02
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], 0.0, delta=precision)
self.assertAlmostEqual(pose['y'], 0.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=0.1)
dest_client = morse.robot.destination
send_goal(dest_client, 10.0, 0.0, 20.0)
morse.sleep(3.0)
# Only x has changed. Check that speed is respected
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], 3.0 * 2.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=0.1)
morse.sleep(2.0)
# Only x has changed
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], 9.7, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=0.1)
x = pose['x']
send_goal(dest_client, x, 10.0, 20.0)
morse.sleep(5.0)
# Only Y has changed
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], x, delta=0.1)
self.assertAlmostEqual(pose['y'], 9.7, delta=0.1)
self.assertAlmostEqual(pose['z'], 20.0, delta=0.1)
x = pose['x']
y = pose['y']
z = pose['z']
send_goal(dest_client, x, y, 30.0)
morse.sleep(5.0)
# Only Z has changed
# XXX precision is not really good
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], x, delta=precision)
self.assertAlmostEqual(pose['y'], y, delta=precision)
self.assertAlmostEqual(pose['z'], 30.0, delta=0.3)
send_goal(dest_client, 0, 0, 20)
morse.sleep(10.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertLess(math.fabs(pose['x']), 0.3)
self.assertLess(math.fabs(pose['y']), 0.3)
self.assertLess(math.fabs(pose['z'] - 20), 0.3)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(DestinationTest)
|
