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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 GyroTest(MorseTestCase):
def setUpEnv(self):
robot = RMax('robot')
robot.translate(0.0, 0.0, 40.0)
robot.rotate(math.pi/16, math.pi/8, math.pi/2)
gyro = Gyroscope()
gyro.add_stream('socket')
robot.append(gyro)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_read_gyro(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gyro_stream = morse.robot.gyro
angles = gyro_stream.get()
precision = 0.02
self.assertAlmostEqual(angles['yaw'], math.pi/2, delta=precision)
self.assertAlmostEqual(angles['pitch'], math.pi/8, delta=precision)
self.assertAlmostEqual(angles['roll'], math.pi/16, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(GyroTest)
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