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#! /usr/bin/env python
"""
This script tests the proximity sensor in MORSE.
"""
import sys
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
def send_dest(s, morse, x, y, yaw):
s.publish({'x' : x, 'y' : y, 'z' : 0, 'yaw' : yaw, 'pitch' : 0.0, 'roll' : 0.0})
morse.sleep(0.1)
class ProximityTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV()
proximity = Proximity()
proximity.translate(z=0.5)
proximity.properties(Track = "Catch_me")
proximity.properties(Range = 2.0)
robot.append(proximity)
proximity.add_stream('socket')
proximity.add_service('socket')
pose = Pose()
robot.append(pose)
pose.add_stream('socket')
motion = Teleport()
robot.append(motion)
motion.add_stream('socket')
target1 = ATRV("Target1")
target1.properties(Catch_me = True)
target1.translate(x=10.0, y = 1.0)
target2 = ATRV("Target2")
target2.properties(Catch_me2 = True)
target2.translate(x=10.0, y = -1.0)
target3 = ATRV("Target3")
target3.properties(Catch_me = True)
target3.translate(x=-4.0, y = 0.0)
env = Environment('empty', fastmode = True)
env.set_camera_location( (9.952, -14.955, 12.48) )
env.set_camera_rotation( (0.867, 0, 0.428) )
env.add_service('socket')
def test_proximity(self):
with Morse() as morse:
prox_stream = morse.robot.proximity
teleport_client = morse.robot.motion
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 0)
# still emtpy
send_dest(teleport_client, morse, 8.0, 0.0, 0.0)
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 0)
# one more meter, must find target1. target2 is at equal
# distance but don't have the good tag
send_dest(teleport_client, morse, 9.0, 0.0, 0.0)
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 1)
self.assertIn('Target1', prox['near_objects'])
# Don't care about the direction, only check the distance
send_dest(teleport_client, morse, -2.8, 0.0, 0.0)
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 1)
self.assertIn('Target3', prox['near_objects'])
# Call the set_range service and check if we can catch the
# two objects
prox_stream.set_range(20.0)
morse.sleep(0.1)
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 2)
self.assertIn('Target1', prox['near_objects'])
self.assertIn('Target3', prox['near_objects'])
# Call the set_tracked_tag service and check if we catch
# target2
prox_stream.set_tracked_tag('Catch_me2')
morse.sleep(0.1)
prox = prox_stream.get()
self.assertEqual(len(prox['near_objects']), 1)
self.assertIn('Target2', prox['near_objects'])
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(ProximityTest)
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