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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
import math
import random
from pymorse import Morse
def send_pose(s, x, y, z, yaw, pitch, roll):
s.publish({'x' : x, 'y' : y, 'z' : z, 'yaw' : yaw, 'pitch' : pitch, 'roll' : roll})
class TeleportTest(MorseTestCase):
def setUpEnv(self):
robot = RMax('robot')
robot.translate(10.0, 8.0, 20.0)
pose = Pose()
pose.add_stream('socket')
robot.append(pose)
teleport = Teleport('teleport')
teleport.add_stream('socket')
robot.append(teleport)
env = Environment('empty', fastmode = True)
env.add_service('socket')
def _test_one_pose(self, morse, x, y, z, yaw, pitch, roll):
send_pose(self.teleport_stream, x, y, z, yaw, pitch, roll)
morse.sleep(0.2)
pose = self.pose_stream.get()
self.assertAlmostEqual(pose['yaw'], yaw, delta=self.precision)
self.assertAlmostEqual(pose['pitch'], pitch, delta=self.precision)
self.assertAlmostEqual(pose['roll'], roll, delta=self.precision)
self.assertAlmostEqual(pose['x'], x, delta=self.precision)
self.assertAlmostEqual(pose['y'], y, delta=self.precision)
self.assertAlmostEqual(pose['z'], z, delta=self.precision)
def test_teleport(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
self.pose_stream = morse.robot.pose
self.teleport_stream = morse.robot.teleport
self.precision = 0.15
pose = self.pose_stream.get()
self.assertAlmostEqual(pose['yaw'], 0.0, delta=self.precision)
self.assertAlmostEqual(pose['pitch'], 0.0, delta=self.precision)
self.assertAlmostEqual(pose['roll'], 0.0, delta=self.precision)
self.assertAlmostEqual(pose['x'], 10.0, delta=self.precision)
self.assertAlmostEqual(pose['y'], 8.0, delta=self.precision)
self.assertAlmostEqual(pose['z'], 20.0, delta=self.precision)
# Test only one rotation each time, otherwise, it a bit more
# complex to check that it does the good transformation
# (without a matrix transformation library)
for i in range(0, 5):
self._test_one_pose(morse,
random.uniform(-30.0, 30.0),
random.uniform(-30.0, 30.0),
random.uniform(10.0, 50.0),
random.uniform(-math.pi, math.pi),
0, 0)
self._test_one_pose(morse,
random.uniform(-30.0, 30.0),
random.uniform(-30.0, 30.0),
random.uniform(10.0, 50.0),
0,
random.uniform(-math.pi, math.pi),
0)
self._test_one_pose(morse,
random.uniform(-30.0, 30.0),
random.uniform(-30.0, 30.0),
random.uniform(10.0, 50.0),
0, 0,
random.uniform(-math.pi, math.pi))
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(TeleportTest)
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