def Test():
    """Module Common self test

    """

    #clear registries
    print("\nTesting Controllers\n")
    storing.Store.Clear()
    #deeding.Deed.Clear()
    doing.Doer.Clear()

    store = storing.Store(name = 'Test')
    store.expose()


    current = store.fetch('scenario.current').update(north = 0.0, east = 0.0)
    bottom = store.fetch('scenario.bottom').update(value =  50.0)
    prevPosition = store.fetch('state.position').update(north = 0.0, east = 0.0)

    headinggoal =  store.fetch('goal.heading').update(value = 45.0)
    depthgoal =  store.fetch('goal.depth').update(value = 5.0)
    speedgoal =  store.fetch('goal.speed').update(value = 2.0)
    duration = 10.0

    simulatorMotionUuv.restart()

    controllerPidSpeed._expose()
    controllerPidHeading._expose()
    controllerPidDepth._expose()
    controllerPidPitch._expose()
    simulatorMotionUuv._expose()

    while (store.stamp <= duration):
        print("")
        controllerPidSpeed.action()
        controllerPidHeading.action()
        controllerPidDepth.action()
        controllerPidPitch.action()
        simulatorMotionUuv.action()
        simulatorMotionUuv._expose()

        store.advanceStamp(0.125)
dataset/ETHPy150Open ioflo/ioflo/ioflo/trim/interior/plain/test/testSimulating.py/Test/original