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
|
#! /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
class FeetModifierTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
robot.translate(10.0, 8.0, 0.0)
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
pose_mod = Pose()
pose_mod.add_stream('socket')
pose_mod.alter('feet')
robot.append(pose_mod)
teleport = Teleport()
teleport.add_stream('socket')
robot.append(teleport)
teleport_mod = Teleport()
teleport_mod.add_stream('socket')
robot.append(teleport_mod)
teleport_mod.alter('feet')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_feet_modifier(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
pose_stream = morse.robot.pose
pose_mod_stream = morse.robot.pose_mod
teleport_stream = morse.robot.teleport
teleport_mod_stream = morse.robot.teleport_mod
pos = pose_stream.get()
pos_mod = pose_mod_stream.get()
precision = 0.02
self.assertAlmostEqual(pos['x'], 10.0, delta=precision)
self.assertAlmostEqual(pos['y'], 8.0, delta=precision)
# Z = 0.1 : pose of the ATRV's center relative to the world
self.assertAlmostEqual(pos['z'], 0.1, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 32.8084, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 26.246, delta=precision)
self.assertAlmostEqual(pos_mod['z'], .3280, delta=precision)
teleport_stream.publish({'x' : 100.0, 'y' : 200.0, 'z' : 50.0, 'yaw' : 0.0, 'pitch' : 0.0, 'roll' : 0.0})
morse.sleep(0.01)
pos = pose_stream.get()
pos_mod = pose_mod_stream.last()
self.assertAlmostEqual(pos['x'], 100.0, delta=precision)
self.assertAlmostEqual(pos['y'], 200.0, delta=precision)
self.assertAlmostEqual(pos['z'], 50.0, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 328.084, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 656.168, delta=precision)
self.assertAlmostEqual(pos_mod['z'], 164.042, delta=precision)
morse.deactivate('robot.teleport')
teleport_mod_stream.publish({'x': 32.8084, 'y': 26.246, 'z': 0.3280, 'yaw' : 0.0, 'pitch' : 0.0, 'roll': 0.0})
morse.sleep(0.03)
pos = pose_stream.get()
pos_mod = pose_mod_stream.last()
self.assertAlmostEqual(pos['x'], 10.0, delta=0.15)
self.assertAlmostEqual(pos['y'], 8.0, delta=0.15)
self.assertAlmostEqual(pos['z'], 0.1, delta=0.15)
self.assertAlmostEqual(pos_mod['x'], 32.8084, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 26.246, delta=precision)
self.assertAlmostEqual(pos_mod['z'], .3280, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(FeetModifierTest)
|
