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#! /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 GPSTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
robot.translate(10.0, 8.0, 0.0)
gps = GPS()
gps.add_stream('socket')
robot.append(gps)
gps_raw = GPS()
gps_raw.level('raw')
gps_raw.add_stream('socket')
robot.append(gps_raw)
teleport = Teleport()
robot.append(teleport)
teleport.add_stream('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
env.properties(longitude = 43.6, latitude = 1.4333, altitude = 135.0)
def test_read_gps(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gps_stream = morse.robot.gps
gps_raw_stream = morse.robot.gps_raw
teleport_stream = morse.robot.teleport
pos = gps_stream.get()
pos_raw = gps_raw_stream.get()
precision = 0.02
precision_deg = 0.0001
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)
# Values get from the sensor, just to check that there are
# no regression134.88
self.assertAlmostEqual(pos_raw['latitude'], 1.4333, delta=precision_deg)
self.assertAlmostEqual(pos_raw['longitude'], 43.6, delta=precision_deg)
self.assertAlmostEqual(pos_raw['altitude'], 135.1, 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 = gps_stream.get()
pos_raw = gps_raw_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)
# Values get from the sensor, just to check that there are
# no regression
self.assertAlmostEqual(pos_raw['latitude'], 1.4351, delta=precision_deg)
self.assertAlmostEqual(pos_raw['longitude'], 43.6009, delta=precision_deg)
self.assertAlmostEqual(pos_raw['altitude'], 185.003, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(GPSTest)
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