def test_ball_speed_behaviour(self):
us = uv_for_three_ballmovements_towards_robot["u"]
vs = uv_for_three_ballmovements_towards_robot["v"]
data = {}
self.bsm = BallSpeedModule()
self.bsm.start(data)
ball_speed = []
ball_vector = []
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 0
data[DATA_KEY_IS_NEW_FRAME] = True
data["Walking.Active"] = False
data["BallFound"] = True
data[DATA_KEY_BALL_INFO] = PyMock()
data[DATA_KEY_BALL_INFO]._setSomething("u", 0.3)
data[DATA_KEY_BALL_INFO]._setSomething("v", 0.4)
for i in range(len(us)):
u, v = us[i], vs[i]
data[DATA_KEY_BALL_INFO]._setSomething("u", u)
data[DATA_KEY_BALL_INFO]._setSomething("v", v)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = i / 20.0
self.bsm.update(data)
ball_speed.append(data[DATA_KEY_BALL_SPEED])
ball_vector.append(data[DATA_KEY_BALL_VECTOR])
if False:
import matplotlib.pyplot as plt
# Draw the measured u value for this point in time
plt.plot(range(len(ball_speed)), ball_speed, "r-", linewidth=2)
plt.show()
def setUp(self):
self.bsm = BallSpeedModule()
debug = Scope("Module")
self.bsm.internal_init(debug, object)
class TestBallSpeedModule(unittest.TestCase):
@classmethod
def setUpClass(cls):
print "#### Test BallSpeedModule ####"
def setUp(self):
self.bsm = BallSpeedModule()
debug = Scope("Module")
self.bsm.internal_init(debug, object)
def get_default_data(self):
data = {
DATA_KEY_CAMERA_CAPTURE_TIMESTAMP: 0,
DATA_KEY_IS_NEW_FRAME: True,
"Walking.Active": False,
"BallFound": True,
}
ball_mock = PyMock()
data[DATA_KEY_BALL_INFO] = ball_mock
return data
def test_no_ball_movement(self):
data = self.get_default_data()
data["BallInfo"]._setSomething("distance", 0.34)
data["BallInfo"]._setSomething("u", 0.34)
data["BallInfo"]._setSomething("v", 0.34)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 1
# Make the first update
self.bsm.update(data)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 2
self.bsm.update(data)
# Assert that BallSpeed is 0 because there couldn't be any evaluation with just one distance
self.assertEquals(0, data[DATA_KEY_BALL_SPEED])
# Make another Update Call
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 3
self.bsm.update(data)
# With two data points it should be now zero
self.assertEquals(0, data[DATA_KEY_BALL_SPEED])
def test_ball_is_moving(self):
data = self.get_default_data()
# Set the First Distance
data["BallInfo"]._setSomething("distance", 0.4)
data["BallInfo"]._setSomething("u", 0.4)
data["BallInfo"]._setSomething("v", 0.4)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 1
self.bsm.update(data)
# Perpare the Mock for the Second Distance
ballMock = PyMock()
data["BallInfo"] = ballMock
data["BallInfo"]._setSomething("distance", 0.5)
data["BallInfo"]._setSomething("u", 0.5)
data["BallInfo"]._setSomething("v", 0.4)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 2
self.bsm.update(data)
self.assertAlmostEquals(0.1, data[DATA_KEY_BALL_SPEED])
self.assertAlmostEquals(0.1, data[DATA_KEY_BALL_VECTOR][0])
# Perpare the Mock for the Third Distance
ballMock = PyMock()
data["BallInfo"] = ballMock
data["BallInfo"]._setSomething("distance", 0.3)
data["BallInfo"]._setSomething("u", 0.3)
data["BallInfo"]._setSomething("v", 0.4)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 3
self.bsm.update(data)
# Assert that speed is 0.2 and positive
self.assertAlmostEquals(0.2, data[DATA_KEY_BALL_SPEED])
self.assertAlmostEquals(-0.2, data[DATA_KEY_BALL_VECTOR][0])
def test_ball_speed_behaviour(self):
us = uv_for_three_ballmovements_towards_robot["u"]
vs = uv_for_three_ballmovements_towards_robot["v"]
data = {}
self.bsm = BallSpeedModule()
self.bsm.start(data)
ball_speed = []
ball_vector = []
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = 0
data[DATA_KEY_IS_NEW_FRAME] = True
data["Walking.Active"] = False
data["BallFound"] = True
data[DATA_KEY_BALL_INFO] = PyMock()
data[DATA_KEY_BALL_INFO]._setSomething("u", 0.3)
data[DATA_KEY_BALL_INFO]._setSomething("v", 0.4)
for i in range(len(us)):
u, v = us[i], vs[i]
data[DATA_KEY_BALL_INFO]._setSomething("u", u)
data[DATA_KEY_BALL_INFO]._setSomething("v", v)
data[DATA_KEY_CAMERA_CAPTURE_TIMESTAMP] = i / 20.0
self.bsm.update(data)
ball_speed.append(data[DATA_KEY_BALL_SPEED])
ball_vector.append(data[DATA_KEY_BALL_VECTOR])
if False:
import matplotlib.pyplot as plt
# Draw the measured u value for this point in time
plt.plot(range(len(ball_speed)), ball_speed, "r-", linewidth=2)
plt.show()
