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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
from pymorse import Morse
def send_ctrl(s, theta, phi, psi, h):
s.publish({'theta_c' : theta, 'phi_c' : phi , 'psi_c' : psi, 'h_c' : h})
class StabilizedQuadrirotorTest(MorseTestCase):
def setUpEnv(self):
robot = QUAD2012('robot')
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
motion = StabilizedQuadrotor('motion')
robot.append(motion)
motion.add_stream('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_theta_c_control(self):
with Morse() as morse:
pose_stream = morse.robot.pose
cmd_client = morse.robot.motion
pose = pose_stream.get()
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(3.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['z'], 10.0, delta = 0.2)
# theta_c permits to control the acceleration on x
send_ctrl(cmd_client, 0.1, 0.0, 0.0, 10.0)
morse.sleep(1.0)
pose1 = pose_stream.get()
dx1 = 0.4
self.assertAlmostEqual(pose1['x'], dx1, delta=0.2)
self.assertAlmostEqual(pose1['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose1['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose1['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose1['pitch'], 0.1, delta=0.1)
self.assertAlmostEqual(pose1['roll'], 0.0, delta=0.0)
# acceleration is constant as long ass we waintain theta_c
morse.sleep(1.0)
pose2 = pose_stream.get()
dx2 = 1.4
self.assertAlmostEqual(pose2['x'], dx1 + dx2, delta=0.2)
self.assertAlmostEqual(pose2['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose2['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose2['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose2['pitch'], 0.1, delta=0.1)
self.assertAlmostEqual(pose2['roll'], 0.0, delta=0.0)
# if we setup theta_c to 0, acceleration on x is now null,
# so v_x is constant (no friction)
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(1.0)
pose3 = pose_stream.get()
dx3 = 2.2
self.assertAlmostEqual(pose3['x'], dx1 + dx2 + dx3 , delta=0.2)
self.assertAlmostEqual(pose3['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose3['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose3['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose3['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose3['roll'], 0.0, delta=0.0)
morse.sleep(1.0)
pose4 = pose_stream.get()
self.assertAlmostEqual(pose4['x'], dx1 + dx2 + 2 * dx3, delta=0.2)
self.assertAlmostEqual(pose4['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose4['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose4['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose4['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose4['roll'], 0.0, delta=0.0)
# adding a negative value to theta_c gives a negative
# acceleration on x, leading to some stabilization at some
# point t
send_ctrl(cmd_client, -0.1, 0.0, 0.0, 10.0)
last_x = 0.0
pose = pose_stream.get()
cur_x = pose['x']
while cur_x - last_x > 0.005:
morse.sleep(0.01)
last_x = cur_x
pose = pose_stream.get()
cur_x = pose['x']
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(0.2)
pose = pose_stream.get()
morse.sleep(1.0)
pose1 = pose_stream.get()
self.assertAlmostEqual(pose['x'] - pose1['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['y'] - pose1['y'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['z'] - pose1['z'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['yaw'] - pose1['yaw'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['pitch'] - pose1['pitch'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['roll'] - pose1['roll'], 0.0, delta=0.05)
def test_phi_c_control(self):
with Morse() as morse:
pose_stream = morse.robot.pose
cmd_client = morse.robot.motion
pose = pose_stream.get()
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(3.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['z'], 10.0, delta = 0.2)
# phi_c permits to control the acceleration on y
send_ctrl(cmd_client, 0.0, 0.1, 0.0, 10.0)
morse.sleep(1.0)
pose1 = pose_stream.get()
dy1 = -0.4
self.assertAlmostEqual(pose1['y'], dy1, delta=0.2)
self.assertAlmostEqual(pose1['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose1['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose1['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose1['roll'], 0.1, delta=0.1)
self.assertAlmostEqual(pose1['pitch'], 0.0, delta=0.0)
# acceleration is constant as long ass we waintain theta_c
morse.sleep(1.0)
pose2 = pose_stream.get()
dy2 = -1.4
self.assertAlmostEqual(pose2['y'], dy1 + dy2, delta=0.2)
self.assertAlmostEqual(pose2['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose2['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose2['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose2['roll'], 0.1, delta=0.1)
self.assertAlmostEqual(pose2['pitch'], 0.0, delta=0.0)
# if we setup phi_c to 0, acceleration on y is now null,
# so v_y is constant (no friction)
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(1.0)
pose3 = pose_stream.get()
dy3 = -2.2
self.assertAlmostEqual(pose3['y'], dy1 + dy2 + dy3 , delta=0.2)
self.assertAlmostEqual(pose3['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose3['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose3['yaw'], 0.0, delta=0.02)
self.assertAlmostEqual(pose3['pitch'], 0.0, delta=0.0)
self.assertAlmostEqual(pose3['roll'], 0.0, delta=0.1)
morse.sleep(1.0)
pose4 = pose_stream.get()
self.assertAlmostEqual(pose4['y'], dy1 + dy2 + 2 * dy3, delta=0.2)
self.assertAlmostEqual(pose4['x'], 0.0, delta=0.2)
self.assertAlmostEqual(pose4['z'], 10.0, delta=0.2)
self.assertAlmostEqual(pose4['yaw'], 0.0, delta=0.0)
self.assertAlmostEqual(pose4['pitch'], 0.0, delta=0.0)
self.assertAlmostEqual(pose4['roll'], 0.0, delta=0.1)
# adding a negative value to theta_c gives a negative
# acceleration on x, leading to some stabilization at some
# point t
send_ctrl(cmd_client, 0.0, -0.1, 0.0, 10.0)
last_y = 0.0
pose = pose_stream.get()
cur_y = pose['y']
while cur_y - last_y < -0.005:
morse.sleep(0.01)
last_y = cur_y
pose = pose_stream.get()
cur_y = pose['y']
send_ctrl(cmd_client, 0.0, 0.0, 0.0, 10.0)
morse.sleep(0.2)
pose = pose_stream.get()
morse.sleep(1.0)
pose1 = pose_stream.get()
self.assertAlmostEqual(pose['x'] - pose1['x'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['y'] - pose1['y'], 0.0, delta=0.2)
self.assertAlmostEqual(pose['z'] - pose1['z'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['yaw'] - pose1['yaw'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['pitch'] - pose1['pitch'], 0.0, delta=0.05)
self.assertAlmostEqual(pose['roll'] - pose1['roll'], 0.0, delta=0.05)
def test_psi_c_control(self):
with Morse() as morse:
pose_stream = morse.robot.pose
cmd_client = morse.robot.motion
pose = pose_stream.get()
z = 12.0
send_ctrl(cmd_client, 0.0, 0.0, 0.0, z)
morse.sleep(3.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['yaw'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['z'], z, delta = 0.2)
# psi correspond to a delta yaw cmd
send_ctrl(cmd_client, 0.0, 0.0, 0.1, z)
morse.sleep(1.0)
pose = pose_stream.get()
delta_yaw = -0.69
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['z'], z, delta=0.2)
self.assertAlmostEqual(pose['yaw'], delta_yaw, delta=0.1)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1)
morse.sleep(1.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['z'], z, delta=0.2)
self.assertAlmostEqual(pose['yaw'], 2 * delta_yaw, delta=0.1)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1)
send_ctrl(cmd_client, 0.0, 0.0, 0.0, z)
morse.sleep(1.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['z'], z, delta=0.2)
self.assertAlmostEqual(pose['yaw'], 2 * delta_yaw, delta=0.2)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1)
send_ctrl(cmd_client, 0.0, 0.0, -0.1, z)
morse.sleep(1.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['z'], z, delta=0.2)
self.assertAlmostEqual(pose['yaw'], delta_yaw, delta=0.2)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(StabilizedQuadrirotorTest)
|
