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#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""
import sys
import math
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
def send_speed(s, morse, v, w, t):
s.publish({'v' : v, 'w' : w})
morse.sleep(t + 0.1)
s.publish({'v' : 0.0, 'w' : 0.0})
def send_service_speed(s, morse, v, w, t):
s.set_speed(v, w)
morse.sleep(t)
s.stop()
class VW_Test(MorseMoveTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV()
pose = Pose()
robot.append(pose)
pose.add_stream('socket')
motion = MotionVW()
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
teleport = Teleport()
robot.append(teleport)
teleport.add_stream('socket')
env = Environment('empty', fastmode = True)
env.show_framerate(True)
env.add_service('socket')
def test_vw_controller(self):
with Morse() as simu:
simu.deactivate('robot.teleport')
precision = 0.1
# 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
send_speed(v_w, simu, 1.0, 0.0, 2.0)
self.assertAlmostEqualPositionThenFix(simu, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
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)
send_speed(v_w, simu, 1.0, -math.pi/4.0, 2.0)
self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10,
-math.pi / 2.0, 0.0, 0.0], precision)
send_speed(v_w, simu, 0.5, -math.pi/8.0, 12.0)
self.assertAlmostEqualPositionThenFix(simu, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
send_speed(v_w, simu, -2.0, math.pi/2.0, 3.0)
self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10,
-math.pi / 2.0, 0.0, 0.0], precision*2)
def test_vw_service_controller(self):
with Morse() as simu:
precision = 0.10
simu.deactivate('robot.teleport')
# 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
send_service_speed(v_w, simu, 1.0, 0.0, 2.0)
self.assertAlmostEqualPositionThenFix(simu, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision)
send_service_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)
send_service_speed(v_w, simu, 1.0, -math.pi/4.0, 2.0)
self.assertAlmostEqualPositionThenFix(simu, [4.0 / math.pi, -4.0 / math.pi, 0.10,
-math.pi / 2.0, 0.0, 0.0], precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(VW_Test)
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