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
|
#! /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 *
from morse.builder.actuators import Light
except ImportError:
pass
import sys
import base64
from pymorse import Morse
class LightTest(MorseTestCase):
def setUpEnv(self):
atrv = ATRV()
cam = VideoCamera()
cam.properties(capturing = True, cam_width = 320, cam_height = 240, \
cam_focal = 25.0000, Vertical_Flip = True)
cam.translate(x=0.2, z=0.9)
atrv.append(cam)
cam.add_stream('socket')
light = Light('light')
light.translate(x=0.2, z=1.1)
light.properties(Distance = 50.0)
atrv.append(light)
light.add_stream('socket')
block = PassiveObject('environments/indoors-1/boxes', 'GreenBox')
block.translate(x=2, y=0, z=1)
env = Environment('empty')
def test_light(self):
with Morse() as morse:
cam_stream = morse.atrv.cam
light_stream = morse.atrv.light
light_stream.publish({"emit": False})
morse.sleep(1.0)
# Light is shutdown. There is no light source on the scene,
# so camera can't distinguish color
res = []
# search the green block in the image
cam = cam_stream.get()
img = base64.b64decode( cam['image'] )
for i in range(0, 320*240*4, 4):
# Value computed with gimp help ...
if (img[i] < 10 and img[i+1] > 170 and img[i+2] < 30):
res.append(i)
self.assertEqual(len(res), 0)
# Now, illuminate the scene
light_stream.publish({"emit": True})
morse.sleep(2.0)
cam = cam_stream.get()
img = base64.b64decode( cam['image'] )
# search the green block in the image
for i in range(0, 320*240*4, 4):
# Value computed with gimp help ...
if (img[i] < 10 and img[i+1] > 170 and img[i+2] < 30):
res.append(i)
self.assertGreater(len(res), 7000)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(LightTest)
|
