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#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""
import sys
import math
import time
from morse.testing.testing import MorseMoveTestCase
from pymorse import Morse
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
from morse.builder import *
except ImportError:
pass
class TimeScale_Test(MorseMoveTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV()
pose = Pose()
pose.frequency(60)
robot.append(pose)
pose.add_stream('socket')
motion = MotionVW()
robot.append(motion)
motion.add_stream('socket')
teleport = Teleport()
robot.append(teleport)
teleport.add_stream('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def send_speed(self, s, morse, v, w, t):
"""
Send the speed (v, w) to the robot controller during real-time t
seconds
Return the simulated time elapsed (in sec)
"""
start = morse.time()
self._count = 0
morse.robot.pose.subscribe(self.count_value)
s.publish({'v' : v, 'w' : w})
time.sleep(t)
s.publish({'v' : 0.0, 'w' : 0.0})
morse.robot.pose.unsubscribe(self.count_value)
return morse.time() - start
def count_value(self, value):
self._count += 1
def test_time_scale(self):
with Morse() as simu:
res = simu.rpc('time', 'set_time_scale', 1.0)
if not res:
logger.warning("time::set_time_scale is not supported on this Blender version")
return
simu.deactivate('robot.teleport')
precision = 0.18
time_precision = 0.04
# Read the start position, it must be (0.0, 0.0, 0.0)
self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
v_w = simu.robot.motion
# Normal speed: one real-time second == one simulated second
simu_time_elapsed = self.send_speed(v_w, simu, 1.0, 0.0, 2.0)
# as a consequence, the robot has moved forward by 2 m
self.assertAlmostEqualPositionThenFix(simu, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
self.assertAlmostEqual(simu_time_elapsed, 2.0, delta=time_precision)
# We expect to get 60 (default fps) * 2 (s) pose measurement
self.assertAlmostEqual(self._count, 120, delta = 1)
simu_time_elapsed = self.send_speed(v_w, simu, -1.0, 0.0, 2.0)
self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
self.assertAlmostEqual(simu_time_elapsed, 2.0, delta=precision)
self.assertAlmostEqual(self._count, 120, delta = 1)
# Slow down the simulation : one real-time second == 500 ms simulated
simu.rpc('time', 'set_time_scale', 0.5)
simu_time_elapsed = self.send_speed(v_w, simu, 1.0, 0.0, 2.0)
# as a consequence, we only have moved forward by 1m in
# 2 real-second (1 simulated second)
self.assertAlmostEqualPositionThenFix(simu, [1.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
self.assertAlmostEqual(simu_time_elapsed, 1.0, delta=time_precision)
# and so we get only 60 measures (as we will simulate 1 sec in simulate time)
self.assertAlmostEqual(self._count, 60, delta = 1)
# Accelerate the simulation : one real-time second == 2 simulated second
simu.rpc('time', 'set_time_scale', 2.0)
simu_time_elapsed = self.send_speed(v_w, simu, -1.0, 0.0, 2.0)
# as a consequence, we only have moved downward by 4m in 2 real-second (4 simulated second)
self.assertAlmostEqualPositionThenFix(simu, [-3.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
self.assertAlmostEqual(simu_time_elapsed, 4.0, delta=precision)
# alse, we get 240 measures (60 * 4 simulated sec)
self.assertAlmostEqual(self._count, 240, delta = 2)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(TimeScale_Test, time_modes = [TimeStrategies.BestEffort])
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