Source code for base.battery_testing
#! /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
import time
from pymorse import Morse
[docs]class BatteryTest(MorseTestCase):
[docs] def setUpEnv(self):
robot = ATRV()
battery = Battery()
battery.add_stream('socket')
battery.properties(DischargingRate = 10.0)
robot.append(battery)
env = Environment('empty', fastmode = True)
env.add_service('socket')
[docs] def test_read_battery(self):
""" Test if we can connect to the pose data stream, and read from it.
"""
with Morse() as morse:
bat_stream = morse.robot.battery
bat = bat_stream.get()
cur_bat = bat['charge']
time.sleep(2.0)
bat = bat_stream.get()
# Can't be really precise as we don't have exact timestamp
# about when we get data
self.assertAlmostEqual(bat['charge'] - cur_bat, -20.0, delta=0.5)
cut_bat = bat['charge']
# Now the battery must be empty
time.sleep(10.0)
bat = bat_stream.get()
self.assertAlmostEqual(bat['charge'], 0.0, delta=0.001)
########################## Run these tests ##########################
if __name__ == "__main__":
import unittest
from morse.testing.testing import MorseTestRunner
suite = unittest.TestLoader().loadTestsFromTestCase(BatteryTest)
sys.exit(not MorseTestRunner().run(suite).wasSuccessful())