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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 math
from pymorse import Morse
class RadarAltimeterTest(MorseTestCase):
def setUpEnv(self):
robot = RMax('robot')
robot.translate(0.0, 0.0, 20.0)
teleport = Teleport()
teleport.add_stream('socket')
robot.append(teleport)
altimeter = RadarAltimeter()
robot.append(altimeter)
altimeter.add_stream('socket')
altimeter.properties(MaxRange = 25.0)
env = Environment('indoors-1/boxes', fastmode = True)
env.add_service('socket')
ground = bpymorse.get_object('Ground')
ground.game.use_actor = True
def test_teleport(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
teleport_stream = morse.robot.teleport
altimeter_stream = morse.robot.altimeter
precision = 0.01
altitude = altimeter_stream.get()
self.assertAlmostEquals(altitude['z'], 20.0, delta = precision)
teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 15.0,
'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0})
morse.sleep(0.1)
altitude = altimeter_stream.get()
self.assertAlmostEquals(altitude['z'], 15.0, delta = precision)
teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 30.0,
'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0})
morse.sleep(0.1)
altitude = altimeter_stream.get()
self.assertEqual(altitude['z'], float('inf'))
teleport_stream.publish({'x': 0.0, 'y': 0.0, 'z': 12.0,
'yaw': 0.0, 'pitch': math.pi/2, 'roll': math.pi/2})
morse.sleep(0.1)
altitude = altimeter_stream.get()
self.assertAlmostEquals(altitude['z'], 12.0, delta = precision)
# Goes on top on the red box, size ~1.8m
teleport_stream.publish({'x': -7.5, 'y': 0.0, 'z': 15.0,
'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0})
morse.sleep(0.1)
altitude = altimeter_stream.get()
self.assertAlmostEquals(altitude['z'], 13.14, delta = precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(RadarAltimeterTest)
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