class TestWalkingCapsule(unittest.TestCase):
def test_integration(self):
data = {}
self.connector = Connector(data)
self.connector.walking_capsule().start_walking(forward_key=WalkingCapsule.MEDIUM_FORWARD,
sidewards_key=WalkingCapsule.FAST_SIDEWARDS_RIGHT)
conf = get_config()["Behaviour"]["Common"]["Walking"]
self.assertEquals(conf[WalkingCapsule.MEDIUM_FORWARD], data["Walking.Forward"])
self.assertEquals(conf[WalkingCapsule.FAST_SIDEWARDS_RIGHT], data["Walking.Sideward"])
self.assertEquals(True, data["Walking.Active"])
def test_walking_not_active_on_only_zero_keys(self):
data = {}
self.walking_capsule = WalkingCapsule(data)
self.walking_capsule.start_walking()
self.assertTrue("Walking.Active" not in data)
def test_walking_not_active_on_only_zero_keys_2(self):
data = {
"Walking.Forward": 3,
"Walking.Sideward": 4,
"Walking.Angular": 2,
"Walking.Active": True
}
self.walking_capsule = WalkingCapsule(data)
self.walking_capsule.stop_walking()
self.assertEquals(0, data["Walking.Forward"])
self.assertEquals(0, data["Walking.Sideward"])
self.assertEquals(0, data["Walking.Angular"])
self.assertEquals(False, data["Walking.Active"])
def test_set_walking(self):
data = {"Walking.Active": False, "Walking.Forward": 0, "Walking.Angular": 0}
connector = Connector(data)
connector.walking_capsule().start_walking_plain(1, 2)
self.assertIs(data["Walking.Forward"], 1)
self.assertIs(data["Walking.Angular"], 2)
self.assertTrue(data["Walking.Active"])
connector.walking_capsule().stop_walking()
self.assertIs(data["Walking.Forward"], 0)
self.assertIs(data["Walking.Angular"], 0)
self.assertFalse(data["Walking.Active"])
