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
|
#! /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
import math
from pymorse import Morse
def send_angles(s, pan, tilt):
s.publish({'pan' : pan, 'tilt' : tilt})
class MultiplePTUTest(MorseTestCase):
"""
Non regression test for #536
PTU related component are really tested in ptu_testing.py
"""
def setUpEnv(self):
ptu_x = 0.2020
ptu_z = 1.4400
robot = ATRV()
ptu0 = PTU()
ptu0.add_stream('socket')
ptu0.translate(x=ptu_x, z=ptu_z)
ptu0.add_service('socket')
robot.append(ptu0)
posture0 = PTUPosture()
posture0.add_stream('socket')
ptu0.append(posture0)
ptu1 = PTU()
ptu1.add_stream('socket')
ptu1.translate(x = 2 * ptu_x, z = 2 * ptu_z)
ptu1.add_service('socket')
robot.append(ptu1)
posture1 = PTUPosture()
posture1.add_stream('socket')
ptu1.append(posture1)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_datastream(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
posture_stream0 = morse.robot.ptu0.posture0
ptu_stream0 = morse.robot.ptu0
posture_stream1 = morse.robot.ptu1.posture1
ptu_stream1 = morse.robot.ptu1
precision = 0.02
moving_precision = 0.1
posture0 = posture_stream0.get()
posture1 = posture_stream1.get()
self.assertAlmostEqual(posture0['pan'], 0.0, delta=precision)
self.assertAlmostEqual(posture0['tilt'], 0.0, delta=precision)
self.assertAlmostEqual(posture1['pan'], 0.0, delta=precision)
self.assertAlmostEqual(posture1['tilt'], 0.0, delta=precision)
send_angles(ptu_stream0, 1.0, 0.0)
send_angles(ptu_stream1, -1.0, 0.0)
morse.sleep(1.0)
posture0 = posture_stream0.get()
posture1 = posture_stream1.get()
self.assertAlmostEqual(posture0['pan'], 1.0, delta=moving_precision)
self.assertAlmostEqual(posture0['tilt'], 0.0, delta=moving_precision)
self.assertAlmostEqual(posture1['pan'], -1.0, delta=moving_precision)
self.assertAlmostEqual(posture1['tilt'], 0.0, delta=moving_precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(MultiplePTUTest)
|
