class DetectionRbot(TestCase):
def setUp(self):
self.analyseImageWorld = AnalyseImageWorld()
self.analyseImageWorld.chargerImage('images/table2/robotTest1.png')
self.detection = DetectionRobot(self.analyseImageWorld.image, 2)
def test_detecter(self):
self.detection.detecter()
self.assertIsNotNone(self.detection.robotIdentifiee)
def test_trouverContoursRobot(self):
c, h = self.detection.trouverContoursRobot()
bool = len(c) >= 2
self.assertTrue(bool)
def test_trouverRobot(self):
c, h = self.detection.trouverContoursRobot()
c = self.detection.eleminerCoutoursNegligeable(c, h)
self.detection.trouverRobot(c)
self.assertIsNotNone(self.detection.robotIdentifiee)
def test_eleminerCoutoursNegligeable(self):
c, h = self.detection.trouverContoursRobot()
c2 = self.detection.eleminerCoutoursNegligeable(c, h)
bool = len(c2) <= len(c)
self.assertTrue(bool)
def trouverRobot(self):
detectionRobot = DetectionRobot(self.image, self.stationBase.getNumTable())
detectionRobot.detecter()
robot = detectionRobot.getRobot()
if robot is not None :
if self.stationBase.getCarte().getRobot() is None:
self.stationBase.getCarte().setRobot(robot)
elif self.deplacementPlausible(robot.getCentre()):
self.stationBase.getCarte().setRobot(robot)
self.cntRobotPerdu = 0
elif self.cntRobotPerdu > MAX_CNT_ROBOT_PERDU:
self.cntRobotPerdu = 0
self.stationBase.getCarte().setRobot(None)
else:
self.cntRobotPerdu += 1
elif self.cntRobotPerdu > MAX_CNT_ROBOT_PERDU:
self.stationBase.getCarte().setRobot(None)
self.cntRobotPerdu = 0
else:
self.cntRobotPerdu += 1
def setUp(self):
self.analyseImageWorld = AnalyseImageWorld()
self.analyseImageWorld.chargerImage('images/table2/robotTest1.png')
self.detection = DetectionRobot(self.analyseImageWorld.image, 2)
