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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 os
import sys
from pymorse import Morse
def send_force(s, steer, force, brake):
s.publish({'steer' : steer, 'force' : force, 'brake' : brake})
class SteerForceTest(MorseTestCase):
def setUpEnv(self):
robot = Hummer('robot')
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
steer_force = SteerForce()
robot.append(steer_force)
steer_force.add_stream('socket')
env = Environment('land-1/rosace_1', fastmode = True)
env.set_physics_step_sub(1)
env.set_camera_location([50.0, -20.0, 50.0])
def test(self):
with Morse() as morse:
pose_stream = morse.robot.pose
pose = pose_stream.get()
# It is not really precise to control the robot in this way
# in open loop. So it is a highly qualitative test.
x = pose['x']
y = pose['y']
# destination socket
steer_client = morse.robot.steer_force
send_force(steer_client, 0.0, -20.0, 0.0)
morse.sleep(3.0)
send_force(steer_client, 0.0, 0.0, 10.0)
morse.sleep(1.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], x + 8.5, delta = 1.0)
self.assertAlmostEqual(pose['y'], y, delta = 1.0)
# Doubling the force
send_force(steer_client, 0.0, -40.0, 0.0)
morse.sleep(3.0)
send_force(steer_client, 0.0, 0.0, 10.0)
morse.sleep(2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], x + 28.0, delta = 1.0)
self.assertAlmostEqual(pose['y'], y, delta = 1.5)
# Backward move
send_force(steer_client, 0.0, 10.0, 0.0)
morse.sleep(11.0)
send_force(steer_client, 0.0, 0.0, 10.0)
morse.sleep(2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], x, delta = 1.5)
self.assertAlmostEqual(pose['y'], y, delta = 1.0)
# Turning
send_force(steer_client, -1.0, -10.0, 0.0)
morse.sleep(10)
send_force(steer_client, 0.0, 0.0, 10.0)
morse.sleep(2.0)
pose = pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 2.25, delta = 0.2)
self.assertAlmostEqual(pose['x'], x - 2.5, delta = 1.0)
self.assertAlmostEqual(pose['y'], x - 7.0, delta = 1.0)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(SteerForceTest)
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