Source code for base.gps_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
from pymorse import Morse


[docs]class GPSTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() robot.translate(10.0, 8.0, 0.0) gps = GPS() gps.add_stream('socket') robot.append(gps) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_read_gps(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: gps_stream = morse.robot.gps pos = gps_stream.get() precision = 0.02 self.assertAlmostEqual(pos['x'], 10.0, delta=precision) self.assertAlmostEqual(pos['y'], 8.0, delta=precision) # Z = 0.1 : pose of the ATRV's center relative to the world self.assertAlmostEqual(pos['z'], 0.1, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": import unittest from morse.testing.testing import MorseTestRunner suite = unittest.TestLoader().loadTestsFromTestCase(GPSTest) sys.exit(not MorseTestRunner().run(suite).wasSuccessful())