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#! /usr/bin/env python
"""
This script tests the Infrared range sensor in MORSE.
"""
import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse
# 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 InfraredTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario. """
robot = ATRV()
robot.rotate(z = math.pi)
robot.translate(x = -4.5)
infrared = Infrared()
infrared.translate(x=0.9)
robot.append(infrared)
infrared.add_stream('socket')
env = Environment('indoors-1/boxes', fastmode = True)
env.add_service('socket')
def test_infrared(self):
""" This test is guaranteed to be started only when the simulator
is ready.
"""
with Morse() as morse:
data = morse.robot.infrared.get()
assert(20 < len(data['range_list']) < 22)
assert(not [r for r in data['range_list'] if not 0 < r < 5])
# see depth_camera_testing for further tests.
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(InfraredTest)
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