Source code for base.vw_testing

#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""

import sys
import math
from time import sleep
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|exec] base_testing.py
try:
    from morse.builder import *
except ImportError:
    pass

[docs]def send_speed(s, v, w, t): s.publish({'v' : v, 'w' : w}) sleep(t) s.publish({'v' : 0.0, 'w' : 0.0})
[docs]def send_service_speed(s, v, w, t): s.set_speed(v, w) sleep(t) s.stop()
[docs]class VW_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() pose = Pose() pose.translate(z=-0.10) # atrv base is 10cm over ground robot.append(pose) pose.add_stream('socket') motion = MotionVW() robot.append(motion) motion.add_stream('socket') motion.add_service('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_vw_controller(self): with Morse() as simu: precision=0.05 # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = simu.robot.pose pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) v_w = simu.robot.motion send_speed(v_w, 1.0, 0.0, 2.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=precision) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_speed(v_w, -1.0, 0.0, 2.0) pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) send_speed(v_w, 1.0, -math.pi/4.0, 2.0) pose = pose_stream.get() # for non-null w, we have r = v / w self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_speed(v_w, 0.5, -math.pi/8.0, 12.0) pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) send_speed(v_w, -2.0, math.pi/2.0, 3.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=0.1) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=0.1) self.assertAlmostEqual(pose['z'], 0.0, delta=0.1) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=0.1) self.assertAlmostEqual(pose['pitch'], 0.0, delta=0.1) self.assertAlmostEqual(pose['roll'], 0.0, delta=0.1)
[docs] def test_vw_service_controller(self): with Morse() as simu: precision=0.15 # Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = simu.robot.pose pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) v_w = simu.robot.motion send_service_speed(v_w, 1.0, 0.0, 2.0) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=precision) self.assertAlmostEqual(pose['y'], 0.0, delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], 0.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) send_service_speed(v_w, -1.0, 0.0, 2.0) pose = pose_stream.get() for coord in pose.values(): self.assertAlmostEqual(coord, 0.0, delta=precision) send_service_speed(v_w, 1.0, -math.pi/4.0, 2.0) pose = pose_stream.get() # for non-null w, we have r = v / w self.assertAlmostEqual(pose['x'], 4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['y'], -4.0/ math.pi , delta=precision) self.assertAlmostEqual(pose['z'], 0.0, delta=precision) self.assertAlmostEqual(pose['yaw'], -math.pi/2.0, delta=precision) self.assertAlmostEqual(pose['pitch'], 0.0, delta=precision) self.assertAlmostEqual(pose['roll'], 0.0, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(VW_Test)