class TestActions(unittest.TestCase):
def setUp(self):
# ToDo : Use mock instead of actual objects
self.game_state = GameState()
self.game = Game()
self.game.set_referee(Referee())
self.game.ball = Ball()
game_world = GameWorld(self.game)
game_world.set_team_color_svc(TeamColorService(TeamColor.YELLOW_TEAM))
self.game.set_our_team_color(TeamColor.YELLOW_TEAM)
self.game_state.set_reference(game_world)
self.player_id = 1 # random integer
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_move_to(self):
self.pose = Pose(Position(0, 0, 0), orientation=0.0)
self.move = MoveToPosition(self.game_state, self.player_id, self.pose)
self.assertEqual(self.move.exec(),
AICommand(1, AICommandType.MOVE,
**{"pose_goal": self.pose}))
self.pose = Pose(Position(0.5, 0.3, 0.2), orientation=3.2)
self.move = MoveToPosition(self.game_state, self.player_id, self.pose)
self.assertEqual(MoveToPosition.exec(self.move),
AICommand(self.player_id, AICommandType.MOVE, **{"pose_goal": self.pose}))
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_idle(self):
self.idle = Idle(self.game_state, self.player_id)
current_pose = None
current_pose_string = AICommand(self.player_id, AICommandType.STOP)
self.assertEqual(Idle.exec(self.idle), current_pose_string)
@unittest.skip("I don't know what the f**k is happening here.")
def test_GrabBall(self):
self.grab_ball = GetBall(self.game_state, self.player_id)
self.game_state.game.ball.set_position(Position(5, 0), 0)
ai_cmd = self.grab_ball.exec()
ball_position = self.game_state.get_ball_position()
destination_orientation = get_angle(self.game_state.get_player_pose(self.player_id).position, ball_position)
destination_pose = {"pose_goal": Pose(ball_position, destination_orientation)}
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": destination_pose})
self.assertEqual(ai_cmd, ai_cmd_expected)
self.game_state.game.ball.set_position(Position(-5, 5), 0)
ai_cmd = self.grab_ball.exec()
ai_cmd_expected = AICommand(Pose(Position(-5, 5), 3*pi/4), 0)
self.assertEqual(ai_cmd, ai_cmd_expected)
@unittest.skip("LAZY ME OH HELL")
def test_MoveWithBall(self):
self.move_with_ball = MoveToDribblingBall(self.game_state, self.player_id, Position(100, 0))
self.game_state.game.ball.set_position(Position(5, 0), 0)
ai_cmd = self.move_with_ball.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), 0)})
self.assertEqual(ai_cmd, ai_cmd_expected)
self.game_state.game.ball.set_position(Position(5, 2), 0)
ai_cmd = self.move_with_ball.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), atan(2/5))})
self.assertEqual(ai_cmd, ai_cmd_expected)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_GoBetween(self):
# test avec une droite verticale
self.go_between = GoBetween(self.game_state, self.player_id, Position(100, 100), Position(100, -100),
Position(200, 0))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), 0)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite horizontale
self.go_between = GoBetween(self.game_state, self.player_id, Position(100, 100), Position(-100, 100),
Position(0, 200))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(0, 100), pi/2)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite quelconque
self.go_between = GoBetween(self.game_state, self.player_id, Position(0, 500), Position(500, 0),
Position(-300, -300))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(250, 250), -3*pi/4)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position1
self.go_between = GoBetween(self.game_state, self.player_id, Position(1000, 75), Position(1500, -250),
Position(0, 0), 180)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(1150, -23), 3.1215)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position2
self.go_between = GoBetween(self.game_state, self.player_id, Position(-100, 50), Position(-50, 50),
Position(-60.0 + sqrt(3), 51.0), 10)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-60, 50), 0.5235)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test correction pour respecter la distance minimale
self.go_between = GoBetween(self.game_state, self.player_id, Position(-500, 25), Position(1, 25),
Position(-179, 0), 180)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-179, 25), -pi/2)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test distance entre les positions insuffisantes
self.assertRaises(AssertionError, GoBetween, self.game_state, self.player_id, Position(1, 1),
Position(-1, -1), 50)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_GoBehind(self):
# TODO: faire davantage de cas de test
distance_behind = 500
# test avec une droite quelconque
self.go_behind = GoBehind(self.game_state, self.player_id, Position(1.5, 2.3), Position(18.3, 27.8),
distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-273, -415), 0.9882)})
# AICommand(Pose(Position(-273, -415), 0.9882), 0)
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test avec une droite verticale
self.go_behind = GoBehind(self.game_state, self.player_id, Position(1000, 250.3), Position(1000, 725.8),
distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(1000, -249), 1.5707)})
# AICommand(Pose(Position(1000, -249), 1.5707), 0)
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test avec une droite horizontale
self.go_behind = GoBehind(self.game_state, self.player_id, Position(175.8, -200.34), Position(-276.8, -200.34),
distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(675, -200), -3.1415)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_kick(self):
# test avec la valeur 0 (nulle)
self.kick = Kick(self.game_state, self.player_id, 0)
current_pose = self.game_state.get_player_pose(self.player_id)
current_pose_string = AICommand(self.player_id, AICommandType.KICK, **{"pose_goal": current_pose})
self.assertEqual(Kick.exec(self.kick), current_pose_string)
# test avec la valeur 1 (force maximale)
self.kick = Kick(self.game_state, self.player_id, 1)
current_pose = self.game_state.get_player_pose(self.player_id)
self.assertEqual(Kick.exec(self.kick), AICommand(self.player_id, AICommandType.KICK,
**{"pose_goal": current_pose}))
# test avec la valeur 0.3 (force intermediaire)
self.kick = Kick(self.game_state, self.player_id, 0.3)
current_pose = self.game_state.get_player_pose(self.player_id)
self.assertEqual(Kick.exec(self.kick), AICommand(self.player_id, AICommandType.KICK,
**{"pose_goal": current_pose}))
@unittest.skip("I got lazy, didn't want to review all of the protectgoal.")
def test_ProtectGoal(self):
# test de base
self.game_state.game.friends.players[0].update(Pose(Position(4450, 10)))
self.game_state.game.ball.set_position(Position(0, 0), 0)
self.protectGoal = ProtectGoal(self.game_state, 0)
aicmd_obtenu = self.protectGoal.exec()
aicmd_cible = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(4000, 0), -pi)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test distance max < distance min
self.assertRaises(AssertionError, ProtectGoal, self.game_state, 0, True, 50, 40)
class TestActions(unittest.TestCase):
def setUp(self):
# ToDo : Use mock instead of actual objects
self.game_state = GameState()
self.game = Game()
self.game.set_referee(Referee())
self.game.ball = Ball()
game_world = ReferenceTransferObject(self.game)
game_world.set_team_color_svc(TeamColorService(TeamColor.YELLOW_TEAM))
self.game.set_our_team_color(TeamColor.YELLOW_TEAM)
self.game_state.set_reference(game_world)
self.player_id = 1 # random integer
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_move_to(self):
self.pose = Pose(Position(0, 0, 0), orientation=0.0)
self.move = MoveToPosition(self.game_state, self.player_id, self.pose)
self.assertEqual(
self.move.exec(),
AICommand(1, AICommandType.MOVE, **{"pose_goal": self.pose}))
self.pose = Pose(Position(0.5, 0.3, 0.2), orientation=3.2)
self.move = MoveToPosition(self.game_state, self.player_id, self.pose)
self.assertEqual(
MoveToPosition.exec(self.move),
AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": self.pose}))
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_idle(self):
self.idle = Idle(self.game_state, self.player_id)
current_pose = None
current_pose_string = AICommand(self.player_id, AICommandType.STOP)
self.assertEqual(Idle.exec(self.idle), current_pose_string)
@unittest.skip("I don't know what the f**k is happening here.")
def test_GrabBall(self):
self.grab_ball = GetBall(self.game_state, self.player_id)
self.game_state.game.ball.set_position(Position(5, 0), 0)
ai_cmd = self.grab_ball.exec()
ball_position = self.game_state.get_ball_position()
destination_orientation = get_angle(
self.game_state.get_player_pose(self.player_id).position,
ball_position)
destination_pose = {
"pose_goal": Pose(ball_position, destination_orientation)
}
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": destination_pose})
self.assertEqual(ai_cmd, ai_cmd_expected)
self.game_state.game.ball.set_position(Position(-5, 5), 0)
ai_cmd = self.grab_ball.exec()
ai_cmd_expected = AICommand(Pose(Position(-5, 5), 3 * pi / 4), 0)
self.assertEqual(ai_cmd, ai_cmd_expected)
@unittest.skip("LAZY ME OH HELL")
def test_MoveWithBall(self):
self.move_with_ball = MoveToDribblingBall(self.game_state,
self.player_id,
Position(100, 0))
self.game_state.game.ball.set_position(Position(5, 0), 0)
ai_cmd = self.move_with_ball.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), 0)})
self.assertEqual(ai_cmd, ai_cmd_expected)
self.game_state.game.ball.set_position(Position(5, 2), 0)
ai_cmd = self.move_with_ball.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), atan(2 / 5))})
self.assertEqual(ai_cmd, ai_cmd_expected)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_GoBetween(self):
# test avec une droite verticale
self.go_between = GoBetween(self.game_state, self.player_id,
Position(100, 100), Position(100, -100),
Position(200, 0))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(100, 0), 0)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite horizontale
self.go_between = GoBetween(self.game_state, self.player_id,
Position(100, 100), Position(-100, 100),
Position(0, 200))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(0, 100), pi / 2)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite quelconque
self.go_between = GoBetween(self.game_state, self.player_id,
Position(0, 500), Position(500, 0),
Position(-300, -300))
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(250, 250), -3 * pi / 4)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position1
self.go_between = GoBetween(self.game_state, self.player_id,
Position(1000, 75), Position(1500, -250),
Position(0, 0), 180)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(1150, -23), 3.1215)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position2
self.go_between = GoBetween(self.game_state, self.player_id,
Position(-100, 50), Position(-50, 50),
Position(-60.0 + sqrt(3), 51.0), 10)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-60, 50), 0.5235)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test correction pour respecter la distance minimale
self.go_between = GoBetween(self.game_state, self.player_id,
Position(-500, 25), Position(1, 25),
Position(-179, 0), 180)
ai_cmd = self.go_between.exec()
ai_cmd_expected = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-179, 25), -pi / 2)})
self.assertEqual(ai_cmd, ai_cmd_expected)
# test distance entre les positions insuffisantes
self.assertRaises(AssertionError, GoBetween, self.game_state,
self.player_id, Position(1, 1), Position(-1, -1), 50)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_GoBehind(self):
# TODO: faire davantage de cas de test
distance_behind = 500
# test avec une droite quelconque
self.go_behind = GoBehind(self.game_state, self.player_id,
Position(1.5, 2.3), Position(18.3, 27.8),
distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-273, -415), 0.9882)})
# AICommand(Pose(Position(-273, -415), 0.9882), 0)
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test avec une droite verticale
self.go_behind = GoBehind(self.game_state, self.player_id,
Position(1000, 250.3), Position(1000, 725.8),
distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(1000, -249), 1.5707)})
# AICommand(Pose(Position(1000, -249), 1.5707), 0)
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test avec une droite horizontale
self.go_behind = GoBehind(self.game_state, self.player_id,
Position(175.8, -200.34),
Position(-276.8, -200.34), distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(
self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(675, -200), -3.1415)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
@unittest.skip("I don't know whuy the f**k it is broken here.")
def test_kick(self):
# test avec la valeur 0 (nulle)
self.kick = Kick(self.game_state, self.player_id, 0)
current_pose = self.game_state.get_player_pose(self.player_id)
current_pose_string = AICommand(self.player_id, AICommandType.KICK,
**{"pose_goal": current_pose})
self.assertEqual(Kick.exec(self.kick), current_pose_string)
# test avec la valeur 1 (force maximale)
self.kick = Kick(self.game_state, self.player_id, 1)
current_pose = self.game_state.get_player_pose(self.player_id)
self.assertEqual(
Kick.exec(self.kick),
AICommand(self.player_id, AICommandType.KICK,
**{"pose_goal": current_pose}))
# test avec la valeur 0.3 (force intermediaire)
self.kick = Kick(self.game_state, self.player_id, 0.3)
current_pose = self.game_state.get_player_pose(self.player_id)
self.assertEqual(
Kick.exec(self.kick),
AICommand(self.player_id, AICommandType.KICK,
**{"pose_goal": current_pose}))
@unittest.skip("I got lazy, didn't want to review all of the protectgoal.")
def test_ProtectGoal(self):
# test de base
self.game_state.game.friends.players[0].update(Pose(Position(4450,
10)))
self.game_state.game.ball.set_position(Position(0, 0), 0)
self.protectGoal = ProtectGoal(self.game_state, 0)
aicmd_obtenu = self.protectGoal.exec()
aicmd_cible = AICommand(self.player_id, AICommandType.MOVE,
**{"pose_goal": Pose(Position(4000, 0), -pi)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test distance max < distance min
self.assertRaises(AssertionError, ProtectGoal, self.game_state, 0,
True, 50, 40)
def is_ball_kicked(player, min_distance=150, min_speed=1000):
if (player.pose.position - GameState.get_ball_position()).norm() > min_distance and \
GameState.get_ball_velocity().norm() > min_speed:
return True
else:
return False
class TestGameStateManager(unittest.TestCase):
"""
Teste les différentes fonctionnalités du GameStateManager
"""
def setUp(self):
self.field = Field.Field(Ball.Ball())
self.my_team = Team.Team(True)
self.other_team = Team.Team(False)
self.GameStateManager1 = GameState()
self.GameStateManager2 = GameState()
def test_singleton(self):
"""
Teste si le Manager est un singleton,
i.e. s'il ne peut y avoir qu'une seule instance du manager
"""
self.assertTrue(self.GameStateManager1 is self.GameStateManager2)
def test_update_ball_position(self):
new_ball_position = Position.Position(1500, 1500, 0)
self.GameStateManager2._update_ball_position(new_ball_position)
self.assertEqual(new_ball_position,
self.GameStateManager1.get_ball_position())
def test_update_field(self):
new_ball_position = Position.Position(2500, 2500, 0)
self.field.move_ball(new_ball_position, 5)
self.GameStateManager2._update_field(self.field)
self.assertEqual(self.GameStateManager1.get_ball_position(),
new_ball_position)
def test_update_player(self):
new_player_pose = Pose.Pose(Position.Position(1700, 1700, 0), 25)
self.GameStateManager2._update_player(3, new_player_pose, True)
self.assertEqual(new_player_pose,
self.GameStateManager1.get_player_pose(3, True))
self.GameStateManager2._update_player(3, new_player_pose, False)
self.assertEqual(new_player_pose,
self.GameStateManager1.get_player_pose(3, False))
def test_update_team(self):
new_player_pose = Pose.Pose(Position.Position(1000, 1000, 0), 25)
for i in range(PLAYER_PER_TEAM):
self.my_team.move_and_rotate_player(i, new_player_pose)
new_player_pose.position += 200
self.GameStateManager2._update_team(self.my_team, True)
for i in range(PLAYER_PER_TEAM):
self.assertEqual(self.GameStateManager1.get_player_pose(i, True),
self.my_team.players[i].pose)
new_player_pose = Pose.Pose(Position.Position(1000, 1000, 0), 25)
for i in range(PLAYER_PER_TEAM):
self.other_team.move_and_rotate_player(i, new_player_pose)
new_player_pose.position += 100
self.GameStateManager2._update_team(self.other_team, False)
for i in range(PLAYER_PER_TEAM):
self.assertEqual(self.GameStateManager1.get_player_pose(i, False),
self.other_team.players[i].pose)
def test_update_timestamp(self):
new_timestamp = 123.25
self.GameStateManager2._update_timestamp(new_timestamp)
self.assertEqual(self.GameStateManager1.timestamp, new_timestamp)
def test_update(self):
new_timestamp = 145.36
new_ball_position = Position.Position(500, 500, 0)
self.field.move_ball(new_ball_position, 5)
new_player_pose = Pose.Pose(Position.Position(1000, 1000, 0), 25)
for i in range(PLAYER_PER_TEAM):
self.my_team.move_and_rotate_player(i, new_player_pose)
new_player_pose.position += 200
new_player_pose = Pose.Pose(Position.Position(1000, 1000, 0), 25)
for i in range(PLAYER_PER_TEAM):
self.other_team.move_and_rotate_player(i, new_player_pose)
new_player_pose.position += 100
new_game_state = r_GameState(field=self.field,
referee=Referee.Referee(),
friends=self.my_team,
enemies=self.other_team,
timestamp=new_timestamp,
debug='Test')
self.GameStateManager2.update(new_game_state)
self.assertEqual(new_game_state.field.ball.position,
self.GameStateManager1.get_ball_position())
for i in range(PLAYER_PER_TEAM):
self.assertEqual(self.GameStateManager1.get_player_pose(i, False),
self.other_team.players[i].pose)
self.assertEqual(self.GameStateManager1.get_player_pose(i, False),
self.other_team.players[i].pose)
self.assertEqual(new_game_state.timestamp,
self.GameStateManager1.timestamp)
class TestActions(unittest.TestCase):
def setUp(self):
# ToDo : Use mock instead of actual objects
self.game_state = GameState()
self.game = Game()
self.game.set_referee(Referee())
game_world = ReferenceTransferObject(self.game)
game_world.set_team_color_svc(TeamColorService(TeamColor.YELLOW))
self.game_state.set_reference(game_world)
self.a_player = OurPlayer(TeamColor.YELLOW, A_PLAYER_ID)
def test_move_to(self):
A_CRUISE_SPEED = 0.1
self.pose = Pose(Position(0, 0), 0.0)
self.move = MoveToPosition(self.game_state, self.a_player, self.pose,
False, A_CRUISE_SPEED)
return_cmd = self.move.exec()
expected_cmd = AICommand(
self.a_player, AICommandType.MOVE, **{
"pose_goal": self.pose,
"pathfinder_on": False,
"cruise_speed": A_CRUISE_SPEED
})
self.assertEqual(return_cmd, expected_cmd)
self.pose = Pose(Position(0.5, 0.3), 3.2)
self.move = MoveToPosition(self.game_state, self.a_player, self.pose,
False, A_CRUISE_SPEED)
self.assertEqual(
MoveToPosition.exec(self.move),
AICommand(
self.a_player, AICommandType.MOVE, **{
"pose_goal": self.pose,
"pathfinder_on": False,
"cruise_speed": A_CRUISE_SPEED
}))
def test_idle(self):
idle = Idle(self.game_state, self.a_player)
expected_command = AICommand(
self.a_player,
AICommandType.STOP,
control_loop_type=AIControlLoopType.POSITION)
actual_command = Idle.exec(idle)
self.assertEqual(actual_command, expected_command)
def test_GrabBall(self):
self.grab_ball = GetBall(self.game_state, self.a_player)
self.game_state.set_ball_position(Position(5, 0), A_DELTA_T)
ai_cmd = self.grab_ball.exec()
ball_position = self.game_state.get_ball_position()
destination_orientation = (ball_position -
self.a_player.pose.position).angle()
destination_pose = Pose(ball_position, destination_orientation)
ai_cmd_expected = AICommand(self.a_player, AICommandType.MOVE,
**{"pose_goal": destination_pose})
self.assertEqual(ai_cmd, ai_cmd_expected)
grab_pose = Pose(Position(-5, 5), 3 * pi / 4)
self.game_state.set_ball_position(Position(-5, 5), A_DELTA_T)
ai_cmd = self.grab_ball.exec()
ai_cmd_expected = AICommand(self.a_player, AICommandType.MOVE,
**{"pose_goal": grab_pose})
self.assertEqual(ai_cmd, ai_cmd_expected)
@unittest.skip("GoBetween does not actually go in between")
def test_GoBetween(self):
# test avec une droite verticale
POS_TOP = Position(100, 100)
POS_BOTTOM = Position(100, -100)
POS_TARGET = Position(200, 0)
POS_INBETWEEN = Position(100, 0)
self.go_between = GoBetween(self.game_state, self.a_player, POS_TOP,
POS_BOTTOM, POS_TARGET)
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(POS_INBETWEEN, 0)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite horizontale
self.go_between = GoBetween(self.game_state, self.a_player,
Position(100, 100), Position(-100, 100),
Position(0, 200))
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(Position(0, 100), pi / 2)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test avec une droite quelconque
self.go_between = GoBetween(self.game_state, self.a_player,
Position(0, 500), Position(500, 0),
Position(-300, -300))
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(Position(250, 250), -3 * pi / 4)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position1
self.go_between = GoBetween(self.game_state, self.a_player,
Position(1000, 75), Position(1500, -250),
Position(0, 0), 0)
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(Position(1000, 75), -3.067)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test destination calculée derrière position2
self.go_between = GoBetween(self.game_state, self.a_player,
Position(-100, 50), Position(-50, 50),
Position(-60.0 + sqrt(3), 51.0), 10)
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(Position(-60, 50), 0.5235)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test correction pour respecter la distance minimale
self.go_between = GoBetween(self.game_state, self.a_player,
Position(-500, 25), Position(1, 25),
Position(-179, 0), 180)
ai_cmd = self.go_between.exec().pose_goal
ai_cmd_expected = Pose(Position(-179, 25), -pi / 2)
self.assertEqual(ai_cmd, ai_cmd_expected)
# test distance entre les positions insuffisantes
self.assertRaises(AssertionError, GoBetween, self.game_state,
self.a_player, Position(1, 1), Position(-1, -1), 50)
def test_GoBehind(self):
# TODO: faire davantage de cas de test
distance_behind = 500
# test avec une droite verticale
self.go_behind = GoBehind(self.game_state, self.a_player,
Position(1000, 250.3), Position(1000, 725.8),
distance_behind)
aicmd_obtenu = self.go_behind.exec()
aicmd_expected = AICommand(
self.a_player, AICommandType.MOVE,
**{"pose_goal": Pose(Position(1000, -249.700), 1.5707)})
self.assertEqual(aicmd_obtenu, aicmd_expected)
# test avec une droite quelconque
self.go_behind = GoBehind(self.game_state, self.a_player,
Position(1.5, 2.3), Position(18.3, 27.8),
distance_behind)
aicmd_obtenu = self.go_behind.exec()
aicmd_expected = AICommand(
self.a_player, AICommandType.MOVE,
**{"pose_goal": Pose(Position(-273.579, -415.230), 0.9882)})
self.assertEqual(aicmd_obtenu, aicmd_expected)
# test avec une droite horizontale
self.go_behind = GoBehind(self.game_state, self.a_player,
Position(175.8, -200.34),
Position(-276.8, -200.34), distance_behind)
aicmd_obtenu = GoBehind.exec(self.go_behind)
aicmd_cible = AICommand(
self.a_player, AICommandType.MOVE,
**{"pose_goal": Pose(Position(675.800, 99.660), -2.601)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
def test_kick(self):
# test avec la valeur 0 (nulle)
target = Pose(Position(1, 1))
ball_position = Position(5, 0)
self.game_state.set_ball_position(ball_position, A_DELTA_T)
expected_cmd = AICommand(
self.a_player, AICommandType.MOVE, **{
"pose_goal": Pose(ball_position, 0.785),
"charge_kick": True,
"kick": True,
"pathfinder_on": True,
"cruise_speed": 0.1,
"end_speed": 0
})
return_cmd = Kick(self.game_state,
self.a_player,
force=0,
target=target).exec()
self.assertEqual(expected_cmd, return_cmd)
# test avec la valeur 1 (force maximale)
expected_cmd.kick_strength = 1
return_cmd = Kick(self.game_state, self.a_player, 1,
target=target).exec()
self.assertEqual(return_cmd, expected_cmd)
# test avec la valeur 0.3 (force intermediaire)
expected_cmd.kick_strength = 0.3
return_cmd = Kick(self.game_state, self.a_player, 0.3,
target=target).exec()
self.assertEqual(return_cmd, expected_cmd)
@unittest.skip("I got lazy, didn't want to review all of the protectgoal.")
def test_ProtectGoal(self):
# test de base
self.game_state.game.friends.players[0].update(Pose(Position(4450,
10)))
self.game_state.game.ball.set_position(Position(0, 0), 0)
self.protectGoal = ProtectGoal(self.game_state, 0)
aicmd_obtenu = self.protectGoal.exec()
aicmd_cible = AICommand(self.a_player, AICommandType.MOVE,
**{"pose_goal": Pose(Position(4000, 0), -pi)})
self.assertEqual(aicmd_obtenu, aicmd_cible)
# test distance max < distance min
self.assertRaises(AssertionError, ProtectGoal, self.game_state, 0,
True, 50, 40)
