def setUp(self):
self.data_mock = {"Ipc": test_utils.get_init_pose(), "Debug": DebugMock()}
# Mock the Pose
pM = PyMock()
pM._setSomething("HeadTilt.position", 1)
pM._setSomething("HeadPan.position", 2)
pM._setSomething("LAnkleRoll.position", 3)
pM._setSomething("LAnklePitch.position", 4)
pM._setSomething("RAnkleRoll.position", 5)
pM._setSomething("RAnklePitch.position", 6)
pM._setSomething("RHipPitch.position", 7)
pM._setSomething("LHipPitch.position", 8)
pM._setSomething("LKnee.position", 9)
pM._setSomething("RKnee.position", 10)
self.data_mock["Pose"] = pM
data = {}
tr_config = {"green_y": 55, "green_u": 30, "green_v": 15, "green_dynamic": True}
data['ImageFormat'] = "YUYV"
data["CameraExposureCalback"] = None
data["CameraPose"] = PyPose()
data["CameraResulution"] = (1280, 720)
self.data = data
def ignore_test_rating_below_zero(self):
pm = VisionModule()
pm.start(self.data)
self.data_mock["CameraFrameVersion"] = 1
self.data_mock["CameraPose"] = test_utils.get_init_pose()
ball_info = (-1, (1, 2, 3))
pm.extract_ball_infos(self.data_mock, ball_info)
self.assertFalse(self.data_mock["BallFound"])
def test_extract_goal_info(self):
pm = VisionModule()
pm.start(self.data)
p = test_utils.get_init_pose()
self.data_mock["Pose"] = p
pm.transformer.update_pose(self.data_mock["Pose"])
self.data_mock["CameraFrameVersion"] = 1
goal_info = (((0,0,0),(0.0,0.0,0)), None)
pm.extract_goal_infos(self.data_mock, goal_info)
self.assertTrue(self.data_mock[DATA_KEY_GOAL_FOUND])
self.assertTrue(len(self.data_mock[DATA_KEY_GOAL_INFO]) == 2)
def prepare_data(self, locatorToggle = True, x_move = 0,
y_move = 0, move_dir = 0, updated = False,
new_frame = True, lp = None):
data = {}
config = {}
toggel = {"Location": locatorToggle}
config["Toggels"] = toggel
config["vision"] = {}
config["vision"]["CameraAngle"] = 86
data["Config"] = config
data["Moving.X"] = x_move
data["Moving.Y"] = y_move
data["Moving.Direction"] = move_dir
data["transformerUpdated"] = updated
data["CameraPose"] = get_init_pose()
data[DATA_KEY_IS_NEW_FRAME] = new_frame
data["Ipc"] = None
if lp is not None:
data["LinePoints"] = lp
return data
def start(self, data):
data["Pose"] = testUtils.get_init_pose()
data["Ipc"] = testUtils.get_Ipc()
data[DATA_KEY_GOAL_MODEL] = LocalGoalModel()
self.worldServiceClient.register_robot(self.player)
