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#! /usr/bin/env python
"""
This script tests the waypoints actuator, both the data and service api
"""
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
class RotorcraftWaypoints_Test(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = Quadrotor('robot')
robot.translate(x = -1.24, y=1.70, z=1.81)
pose = Pose()
robot.append(pose)
pose.add_stream('socket')
motion = RotorcraftWaypoint('motion')
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
wp_target = Sphere('wp_target')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_waypoint_controller(self):
""" This test is guaranteed to be started only when the simulator
is ready.
"""
with Morse() as morse:
pose_stream = morse.robot.pose
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], -1.24, delta=0.05)
self.assertAlmostEqual(pose['y'], 1.70, delta=0.05)
self.assertAlmostEqual(pose['z'], 1.81, delta=0.05)
self.assertAlmostEqual(pose['yaw'], 0, delta=0.05)
wp_client = morse.robot.motion
wp_client.publish({'x' : 10.0, 'y': 5.0, 'z': 10.0,
'tolerance' : 0.5, 'yaw' : 1.0})
morse.sleep(10)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 10.0, delta=0.5)
self.assertAlmostEqual(pose['y'], 5.0, delta=0.5)
self.assertAlmostEqual(pose['z'], 10.0, delta=0.5)
self.assertAlmostEqual(pose['yaw'], 1.0, delta=0.05)
def test_waypoint_service_controller(self):
with Morse() as morse:
pose_stream = morse.robot.pose
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], -1.24, delta=0.05)
self.assertAlmostEqual(pose['y'], 1.70, delta=0.05)
self.assertAlmostEqual(pose['z'], 1.81, delta=0.05)
self.assertAlmostEqual(pose['yaw'], 0, delta=0.05)
morse.rpc('robot.motion', 'goto', 10.0, 5.0, 10.0, 1.0, 0.5)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 10.0, delta=0.5)
self.assertAlmostEqual(pose['y'], 5.0, delta=0.5)
self.assertAlmostEqual(pose['z'], 10.0, delta=0.5)
self.assertAlmostEqual(pose['yaw'], 1.0, delta=0.05)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(RotorcraftWaypoints_Test)
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