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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
class UTMModifierTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
robot.translate(10.0, 8.0, 0.0)
gps = GPS()
gps.add_stream('socket')
robot.append(gps)
gps_mod = GPS()
gps_mod.add_stream('socket')
gps_mod.alter('UTM', z_offset=421)
robot.append(gps_mod)
env = Environment('empty', fastmode = True)
env.add_service('socket')
# Need to put float greater than 10000 in string
env.properties(UTMXOffset='123456789.0', UTMYOffset=-4242.0)
def test_read_gps(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
gps_stream = morse.robot.gps
gps_mod_stream = morse.robot.gps_mod
pos = gps_stream.get()
pos_mod = gps_mod_stream.get()
precision = 0.02
self.assertAlmostEqual(pos['x'], 10.0, delta=precision)
self.assertAlmostEqual(pos['y'], 8.0, delta=precision)
# Z = 0.1 : pose of the ATRV's center relative to the world
self.assertAlmostEqual(pos['z'], 0.1, delta=precision)
self.assertAlmostEqual(pos_mod['x'], 10.0 + 123456789.0, delta=precision)
self.assertAlmostEqual(pos_mod['y'], 8.0 + -4242.0, delta=precision)
self.assertAlmostEqual(pos_mod['z'], 421.1, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(UTMModifierTest)
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