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#! /usr/bin/env python
"""
This script tests the waypoints actuator, both the data and service api
"""
import logging
import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse, MorseServicePreempted
logger = logging.getLogger("morsetesting.general")
# 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 Waypoints_Test(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV("robot")
pose = Pose('pose')
pose.translate(z=-0.10) # atrv body
robot.append(pose)
pose.add_stream('socket')
motion = Waypoint('motion')
robot.append(motion)
motion.add_stream('socket')
motion.add_service('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_waypoint_datastream(self):
""" This test is guaranteed to be started only when the simulator
is ready.
"""
with Morse() as simu:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = simu.robot.pose
pose = pose_stream.get()
for key, coord in pose.items():
if key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.02)
# waypoint controller
motion = simu.robot.motion
motion.publish({'x' : 4.0, 'y': 2.0, 'z': 0.0,
'tolerance' : 0.5,
'speed' : 1.0})
simu.sleep(10)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 4.0, delta=0.5)
self.assertAlmostEqual(pose['y'], 2.0, delta=0.5)
# test tolerance parameter
motion.publish({'x' : 0.0, 'y': 0.0, 'z': 0.0,
'tolerance' : 1.0,
'speed' : 1.0})
simu.sleep(10)
pose = pose_stream.get()
distance_goal = math.sqrt( pose['x'] * pose['x'] + pose['y'] * pose['y'])
self.assertLess(distance_goal, 1.0)
self.assertGreater(distance_goal, 0.5)
def test_waypoint_services(self):
with Morse() as simu:
# Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = simu.robot.pose
pose = pose_stream.get()
for key, coord in pose.items():
if key != 'timestamp':
self.assertAlmostEqual(coord, 0.0, delta=0.02)
logger.info("Moving 2m ahead...")
simu.robot.motion.goto(2.0, 0.0, 0.0, 0.1, 1.0).result() # wait for completion
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 2.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
logger.info("Ok.")
action = simu.robot.motion.goto(4.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion
logger.info("Moving for 1 sec...")
simu.sleep(1)
pose = pose_stream.get() #should have done 1m
self.assertAlmostEqual(pose['x'], 3.0, delta=0.15)
logger.info("Ok, reached correct position")
self.assertTrue(action.running())
self.assertFalse(action.done())
logger.info("Cancelling motion and waiting for 0.5 sec...")
action.cancel()
simu.sleep(0.1)
self.assertFalse(action.running())
self.assertTrue(action.done())
with self.assertRaises(MorseServicePreempted):
action.result()
simu.sleep(0.5)
pose = pose_stream.get() #should not have moved
self.assertAlmostEqual(pose['x'], 3.0, delta=0.15)
logger.info("Ok, did not move")
logger.info("Moving again, waiting for 2 sec, and ensuring the action terminate")
action = simu.robot.motion.goto(4.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion
simu.sleep(2)
self.assertTrue(action.done())
self.assertFalse(action.running())
# Stop will stop the robot, but do not erase current goal
action = simu.robot.motion.goto(6.0, 0.0, 0.0, 0.1, 1.0) # do not wait for completion
logger.info("Moving for 1 sec...")
simu.sleep(1)
self.assertFalse(action.done())
self.assertTrue(action.running())
status = simu.robot.motion.get_status().result()
self.assertEqual(status, "Transit")
simu.robot.motion.stop().result()
# Stop does not change the fact that the goto is pending,
# but stop the move
self.assertFalse(action.done())
self.assertTrue(action.running())
status = simu.robot.motion.get_status().result()
self.assertEqual(status, "Stop")
simu.sleep(0.2)
pose = pose_stream.get()
_x = pose['x']
self.assertAlmostEqual(pose['x'], 5.2, delta=0.20)
simu.sleep(0.5)
pose = pose_stream.get() #should not have moved
self.assertAlmostEqual(pose['x'], _x, delta=0.03)
logger.info("Ok, did not move")
# now resume the move
simu.robot.motion.resume().result()
simu.sleep(0.5)
# must move now
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 5.7, delta=0.20)
status = simu.robot.motion.get_status().result()
self.assertEqual(status, "Transit")
# wait for the end of the move
simu.sleep(1.5)
self.assertTrue(action.done())
self.assertFalse(action.running())
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 6.0, delta=0.15)
status = simu.robot.motion.get_status().result()
self.assertEqual(status, "Arrived")
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(Waypoints_Test)
|
