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#! /usr/bin/env python
"""
This script tests the basics of the human model.
"""
import sys
from morse.testing.testing import MorseTestCase
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|edit] <your test>.py
try:
from morse.builder import *
except ImportError:
pass
class HumanBaseTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
human = Human()
pose = Pose()
human.append(pose)
pose.add_stream('socket')
#motion = Keyboard()
motion = Waypoint()
motion.properties(ControlType='Position')
motion.add_stream('socket')
motion.add_service('socket')
human.append(motion)
env = Environment('empty', fastmode=True)
env.add_service('socket')
def test_movement(self):
""" Tests the human can accept an actuator, and that it
work as expected to move around the human.
"""
with Morse() as morse:
#Read the start position, it must be (0.0, 0.0, 0.0)
pose_stream = morse.human.pose
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=0.1)
self.assertAlmostEqual(pose['y'], 0.0, delta=0.1)
# waypoint controller socket
human_ctl = morse.human.motion
human_ctl.publish({'x' : 2.0, 'y': 3.0, 'z': 0.0,
'tolerance' : 0.3,
'speed' : 1.0})
morse.sleep(5)
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 2.0, delta=0.5)
self.assertAlmostEqual(pose['y'], 3.0, delta=0.5)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(HumanBaseTest)
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