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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 PoseTest(MorseTestCase):
def setUpEnv(self):
print("Adding a robot...")
robot = ATRV()
pose = Pose()
pose.add_stream('socket')
pose.translate(z=-0.10) # atrv sensor is at 10cm on the groud
robot.append(pose)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_base_service_connection(self):
""" Simply tests if the simulator is reachable by its socket interface.
"""
morse = Morse()
morse.close()
def test_get_pose_streams_service(self):
""" Tests if we can retrieve the list of published data streams.
"""
morse = Morse()
self.assertEquals(set(morse.streams()), set(["robot.pose"]))
morse.close()
def test_read_pose(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
pose_stream = morse.robot.pose
pose = pose_stream.get()
for key, coord in pose.items():
if key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, 2)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(PoseTest)
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