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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 time
import socket
from pymorse import Morse
class SocketSyncTest(MorseTestCase):
def setUpEnv(self):
robot = Morsy()
clock = Clock()
clock.add_stream('socket')
robot.append(clock)
env = Environment('empty')
env.simulator_frequency(10)
env.configure_stream_manager('socket', time_sync = True, sync_port = 5000)
def test_read_clock(self):
with Morse() as morse:
clock_stream = morse.robot.clock
time.sleep(0.5)
prev_clock = clock_stream.last()
time.sleep(0.2)
clock = clock_stream.last()
self.assertGreater(clock['timestamp'], prev_clock['timestamp'])
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sync:
sync.connect(('localhost', 5000))
# Now the clock is blocked until we triggered it.
# Checking it :)
time.sleep(0.2)
prev_clock = clock_stream.last()
time.sleep(0.2)
clock = clock_stream.last()
self.assertEqual(clock['timestamp'], prev_clock['timestamp'])
# triggering once
sync.send(bytes('foo', 'utf-8'))
clock = clock_stream.get()
self.assertAlmostEqual(clock['timestamp'] - prev_clock['timestamp'], 0.1, delta = 0.0001)
# So cool, isn't it :)
# Close the socket, no more control
prev_clock = clock_stream.last()
time.sleep(0.2)
clock = clock_stream.last()
self.assertGreater(clock['timestamp'], prev_clock['timestamp'])
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(SocketSyncTest, time_modes = [TimeStrategies.FixedSimulationStep])
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