Beispiel #1
0
 def setUp(self):
     self.tmp_file = tempfile.NamedTemporaryFile()
     self.fileh = tables.openFile(self.tmp_file.name, 'w')
     self.client = MagicMock()
     self.client.numUAVs = 2
     self.recorder = ControlsRecorder(self.fileh, self.client)
     self.recorder.init('Task', False)
Beispiel #2
0
class TestControlsRecorder(object):
    def setUp(self):
        self.tmp_file = tempfile.NamedTemporaryFile()
        self.fileh = tables.openFile(self.tmp_file.name, 'w')
        self.client = MagicMock()
        self.client.numUAVs = 2
        self.recorder = ControlsRecorder(self.fileh, self.client)
        self.recorder.init('Task', False)

    def tearDown(self):
        self.fileh.close()
        self.tmp_file.close()

    def test_init_of_client_is_called(self):
        self.client.init.assert_called_once_with('Task', False)

    def test_has_attrs_of_client(self):
        assert_that(self.recorder.numUAVs, is_(self.client.numUAVs))
        assert_that(self.recorder.timestep, is_(self.client.timestep))

    def tests_forwards_unknown_method_calls_to_client(self):
        self.recorder.unknown_method('some arg')
        self.client.unknown_method.assert_called_once_with('some arg')

    def check_control_recording_type_specific_step(self, type):
        dt = 0.1
        steps = 3
        dim = ctrl_signal_dimensions[type]
        for i in xrange(steps):
            getattr(self.recorder, 'step_' + type)(
                dt, [range(dim), range(dim, 2 * dim)])
        self.fileh.flush()

        controls = self.recorder.controls
        assert_that(controls.cols.type, only_contains(
            getattr(ControlsRecorder.Controls.columns['type'].enum, type)))
        assert_that(controls.cols.dt[:], only_contains(0.1))
        assert_equal(
            [x['U'][:dim] for x in controls.where('uav == 0')],
            np.tile(range(dim), (steps, 1)))
        assert_equal(
            [x['U'][:dim] for x in controls.where('uav == 1')],
            np.tile(range(dim, 2 * dim), (steps, 1)))

    def check_control_recording_of_step(self, type):
        input_controls = UAVControls(self.recorder.numUAVs, type)
        for i in xrange(self.recorder.numUAVs):
            input_controls.U[i, :] = i
        dt = 0.1
        steps = 3

        for i in xrange(steps):
            self.recorder.step(dt, input_controls)
        self.fileh.flush()

        dim = ctrl_signal_dimensions[type]
        controls = self.recorder.controls
        assert_that(controls.cols.type, only_contains(
            getattr(ControlsRecorder.Controls.columns['type'].enum, type)))
        assert_that(controls.cols.dt[:], only_contains(0.1))
        for i in xrange(self.recorder.numUAVs):
            assert_equal(
                [x['U'][:dim] for x in controls.where('uav == %i' % i)],
                np.tile(dim * [i], (steps, 1)))

    def check_client_step_called(self, type):
        input_controls = UAVControls(self.recorder.numUAVs, type)
        for i in xrange(self.recorder.numUAVs):
            input_controls.U[i, :] = i
        dt = 0.1

        self.recorder.step(dt, input_controls)
        self.client.step.assert_called_once_with(dt, input_controls)

    def check_client_step_type_specific_called(self, type):
        input_controls = UAVControls(self.recorder.numUAVs, type)
        for i in xrange(self.recorder.numUAVs):
            input_controls.U[i, :] = i
        dt = 0.1

        getattr(self.recorder, 'step_' + type)(dt, input_controls.U)

        class MatchInputControls(object):
            def __init__(self, obj):
                self.obj = obj

            def __eq__(self, other):
                if self.obj.type != other.type:
                    return False
                assert_equal(self.obj.U, other.U)
                return True

        self.client.step.assert_called_once_with(
            dt, MatchInputControls(input_controls))

    def test_records_controls(self):
        for type in ctrl_signal_dimensions.keys():
            yield self.check_control_recording_type_specific_step, type
            yield self.check_control_recording_of_step, type
            yield self.check_client_step_called, type
            yield self.check_client_step_type_specific_called, type