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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
import math
from pymorse import Morse
def send_angles(s, yaw, pitch, roll):
s.publish({'yaw' : yaw, 'pitch' : pitch, 'roll' : roll})
class OrientationTest(MorseTestCase):
def setUpEnv(self):
robot = RMax('robot')
robot.translate(10.0, 8.0, 20.0)
gyro = Gyroscope()
gyro.add_stream('socket')
robot.append(gyro)
orientation = Orientation('orientation')
orientation.add_stream('socket')
robot.append(orientation)
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_orientation(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gyro_stream = morse.robot.gyro
pose_stream = morse.robot.pose
orientation_stream = morse.robot.orientation
precision = 0.12
angles = gyro_stream.get()
pose = pose_stream.get()
self.assertAlmostEqual(angles['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(angles['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], 10.0, delta=precision)
self.assertAlmostEqual(pose['y'], 8.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=precision)
# Position does not change, only yaw is modified
send_angles(orientation_stream, math.pi/2, 0.0, 0.0)
morse.sleep(0.1)
pose = pose_stream.get()
angles = gyro_stream.get()
self.assertAlmostEqual(angles['yaw'], math.pi/2, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(angles['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['yaw'], math.pi/2, delta=precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=precision)
self.assertAlmostEqual(pose['x'], 10.0, delta=precision)
self.assertAlmostEqual(pose['y'], 8.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=precision)
# Complete orientation settings
send_angles(orientation_stream, -math.pi/2, math.pi/8, 0.89)
morse.sleep(0.1)
pose = pose_stream.get()
angles = gyro_stream.get()
self.assertAlmostEqual(angles['yaw'], -math.pi/2, delta=precision)
self.assertAlmostEqual(angles['pitch'], math.pi/8, delta=precision)
self.assertAlmostEqual(angles['roll'], 0.89, delta=precision)
self.assertAlmostEqual(pose['yaw'], -math.pi/2, delta=precision)
self.assertAlmostEqual(pose['pitch'], math.pi/8, delta=precision)
self.assertAlmostEqual(pose['roll'], 0.89, delta=precision)
self.assertAlmostEqual(pose['x'], 10.0, delta=precision)
self.assertAlmostEqual(pose['y'], 8.0, delta=precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(OrientationTest)
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