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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, pan, tilt):
s.publish({'pan' : pan, 'tilt' : tilt})
class PTUTest(MorseTestCase):
def setUpEnv(self):
ptu_x = 0.2020
ptu_z = 1.4400
robot = ATRV()
ptu = PTU()
ptu.add_stream('socket')
ptu.translate(x=ptu_x, z=ptu_z)
ptu.add_service('socket')
ptu.properties(Speed = 0.5)
robot.append(ptu)
posture = PTUPosture()
posture.add_stream('socket')
ptu.append(posture)
gyro = Gyroscope()
gyro.add_stream('socket')
ptu.append(gyro)
chair = PassiveObject(prefix='RollingChair')
chair.translate(x=ptu_x, y=3, z=0.01)
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:
gyro_stream = morse.robot.ptu.gyro
posture_stream = morse.robot.ptu.posture
ptu_stream = morse.robot.ptu
angles = gyro_stream.get()
posture = posture_stream.get()
precision = 0.02
moving_precision = 0.1
self.assertAlmostEqual(posture['pan'], 0.0, delta=precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=precision)
self.assertAlmostEqual(angles['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
send_angles(ptu_stream, 1.0, 0.0)
morse.sleep(1.0)
# here at speed of 0.5 rad / sec, we must be at the middle
# of the trip, check it :)
angles = gyro_stream.get()
posture = posture_stream.get()
self.assertAlmostEqual(posture['pan'], 0.5, delta=moving_precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=moving_precision)
self.assertAlmostEqual(angles['yaw'], 0.5, delta=moving_precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=moving_precision)
morse.sleep(1.0)
# now we must have achieve ptu rotation
angles = gyro_stream.get()
posture = posture_stream.get()
self.assertAlmostEqual(posture['pan'], 1.0, delta=precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=precision)
self.assertAlmostEqual(angles['yaw'], 1.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
send_angles(ptu_stream, 1.0, -1.0)
morse.sleep(2.0)
angles = gyro_stream.get()
posture = posture_stream.get()
self.assertAlmostEqual(posture['pan'], 1.0, delta=precision)
self.assertAlmostEqual(posture['tilt'], -1.0, delta=precision)
self.assertAlmostEqual(angles['yaw'], 1.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], -1.0, delta=precision)
send_angles(ptu_stream, 0.0, 0.0)
morse.sleep(2.0)
angles = gyro_stream.get()
posture = posture_stream.get()
self.assertAlmostEqual(posture['pan'], 0.0, delta=precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=precision)
self.assertAlmostEqual(angles['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
def test_set_service(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gyro_stream = morse.robot.ptu.gyro
posture_stream = morse.robot.ptu.posture
ptu_stream = morse.robot.ptu
angles = gyro_stream.get()
posture = posture_stream.get()
precision = 0.02
moving_precision = 0.1
self.assertAlmostEqual(posture['pan'], 0.0, delta=precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=precision)
self.assertAlmostEqual(angles['yaw'], 0.0, delta=precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=precision)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], 0.0, delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
morse.rpc('robot.ptu', 'set_pan_tilt', 1.0, 0.0)
angles = gyro_stream.get()
posture = posture_stream.get()
self.assertAlmostEqual(posture['pan'], 1.0, delta=moving_precision)
self.assertAlmostEqual(posture['tilt'], 0.0, delta=moving_precision)
self.assertAlmostEqual(angles['yaw'], 1.0, delta=moving_precision)
self.assertAlmostEqual(angles['pitch'], 0.0, delta=moving_precision)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], 1.0, delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
def test_lookat(self):
""" Test if the PTU can successfully orient itself towards an
absolute x,y,z position and towards a given object.
"""
with Morse() as morse:
#TODO: Stupid duplication of SetUpEnv values. Could not find a way
#to share the value. Class variables does not seem to work here.
ptu_x = 0.2020
ptu_z = 1.4400 + .1 # 0.1 -> height of ATRV center
precision = 0.02
res = morse.rpc('robot.ptu', 'look_at_point', 1 ,0 ,ptu_z)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], 0.0, delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
res = morse.rpc('robot.ptu', 'look_at_point', -1 ,0 ,ptu_z)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
# self.assertAlmostEqual(res[0], math.radians(180.0), delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
res = morse.rpc('robot.ptu', 'look_at_point', ptu_x,1,ptu_z)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], math.radians(90), delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
res = morse.rpc('robot.ptu', 'look_at_point', ptu_x, -1, ptu_z)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], math.radians(-90), delta=precision)
self.assertAlmostEqual(res[1], 0.0, delta=precision)
res = morse.rpc('robot.ptu', 'look_at_point', ptu_x,0,10)
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[1], math.radians(-90), delta=precision)
# Reset position
morse.rpc('robot.ptu', 'set_pan_tilt', 0.0, 0.0)
res = morse.rpc('robot.ptu', 'look_at_object', 'chair')
res = morse.rpc('robot.ptu', 'get_pan_tilt')
self.assertAlmostEqual(res[0], math.radians(90), delta=precision)
self.assertAlmostEqual(res[1], 0.466, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(PTUTest)
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