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#! /usr/bin/env python
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_dest(s, morse, x, y, yaw):
s.publish({'x' : x, 'y' : y, 'z' : 0, 'yaw' : yaw, 'pitch' : 0.0, 'roll' : 0.0})
morse.sleep(0.1)
class ThermometerTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
robot.translate(z=0.2)
thermometer = Thermometer()
robot.append(thermometer)
thermometer.properties(DefaultTemperature='25.0')
thermometer.add_interface('socket')
motion = Teleport()
robot.append(motion)
motion.add_interface('socket')
env = Environment('land-1/rosace_1', fastmode = True)
env.add_service('socket')
def test_temperature(self):
with Morse() as morse:
temp_stream = morse.robot.thermometer
teleport_client = morse.robot.motion
o = temp_stream.get()
self.assertAlmostEqual(o['temperature'], 25.0, delta=0.01)
send_dest(teleport_client, morse, 40.0, 0.0, 0.0)
# We are nearer of the fire so the temperature is expected
# to be hotter.
o = temp_stream.get()
temp = o['temperature']
self.assertGreater(temp, 28.0)
# It must be hotter and hotter ...
morse.sleep(5.0)
o = temp_stream.get()
self.assertGreater(o['temperature'], temp)
temp = o['temperature']
morse.sleep(5.0)
o = temp_stream.get()
self.assertGreater(o['temperature'], temp)
temp = o['temperature']
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(ThermometerTest)
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