def update_vision_state(vision_service: VisionService):
try:
table_image, robot_pose = vision_service.get_vision_state()
GameState.get_instance().set_table_image(table_image)
GameState.get_instance().set_robot_pose(robot_pose)
VisionWorker.last_known_pose = robot_pose
except RobotNotFoundException:
GameState.get_instance().set_robot_pose(
VisionWorker.last_known_pose)
class TestVisionService(TestCase):
A_STARTING_ZONE = MagicMock()
AN_IMAGE = MagicMock()
UNDISTORTED_TABLE_IMAGE = MagicMock()
PUCK_ZONE_CENTER = Position(100, 200)
AN_IMAGE_SHAPE = [120, 200, 3]
A_POSITION_LIST = [Position(100, 100), Position(200, 200)]
A_MAZE = MagicMock()
A_ROBOT_POSE = MagicMock()
A_POSITION = MagicMock()
A_COLOR = Color.BLUE
SOME_PUCKS = MagicMock()
def setUp(self):
self.setUpMocks()
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.vision_service = VisionService(
self.starting_zone_detector,
self.obstacle_detector,
self.image_calibrator,
self.table_detector,
self.world_camera,
self.maze_factory,
self.robot_detector,
self.puck_detector,
self.PUCK_ZONE_CENTER,
)
self.table_detector.crop_table.return_value = self.AN_IMAGE
self.obstacle_detector.detect.return_value = self.A_POSITION_LIST
self.AN_IMAGE.shape = self.AN_IMAGE_SHAPE
def setUpMocks(self):
self.starting_zone_detector = MagicMock()
self.obstacle_detector = MagicMock()
self.image_calibrator = MagicMock()
self.table_detector = MagicMock()
self.world_camera = MagicMock()
self.maze_factory = MagicMock()
self.robot_detector = MagicMock()
self.puck_detector = MagicMock()
def test_whenCreateGameTable_thenWorldImageIsTaken(self):
self.vision_service.create_game_table()
self.world_camera.take_world_image.assert_called()
def test_whenCreateGameTable_thenStartingZoneDetectorUseWorldImage(self):
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.vision_service.create_game_table()
self.starting_zone_detector.detect.assert_called_with(self.AN_IMAGE)
def test_whenCreateGameTable_thenGameTableContainsStartingZoneDetected(self):
self.starting_zone_detector.detect.return_value = self.A_STARTING_ZONE
actual_starting_zone = (
self.vision_service.create_game_table().get_starting_zone()
)
self.assertEqual(self.A_STARTING_ZONE, actual_starting_zone)
def test_whenCreateGameTable_thenObstaclesAreDetectedUsingUndistortedImage(self):
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.UNDISTORTED_TABLE_IMAGE.shape = self.AN_IMAGE_SHAPE
self.vision_service.create_game_table()
self.obstacle_detector.detect.assert_called_with(self.AN_IMAGE)
def test_whenCreateGameTable_thenGameTableHasRightPuckZonePosition(self):
game_table = self.vision_service.create_game_table()
self.assertEqual(self.PUCK_ZONE_CENTER, game_table.get_puck_zone_center())
def test_givenWorldCameraTakesPictureOfTable_createGameTable_thenMazeIsCreatedWithRightDimensionsAndObstacles(
self,
):
self.image_calibrator.calibrate.return_value = self.AN_IMAGE
self.vision_service.create_game_table()
self.maze_factory.create_from_shape_and_obstacles_and_pucks_as_obstacles.assert_called()
def test_whenGetVisionState_thenTableImageIsTaken(self):
self.vision_service.get_vision_state()
self.world_camera.take_world_image.assert_called()
def test_whenGetVisionState_thenRobotIsDetected(self):
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.vision_service.get_vision_state()
self.robot_detector.detect.assert_called_with(self.AN_IMAGE)
def test_whenGetVisionState_thenTableImageAndRobotPoseAreReturned(self):
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.robot_detector.detect.return_value = self.A_ROBOT_POSE
actual_table_image, actual_robot_pose = self.vision_service.get_vision_state()
self.assertEqual(actual_table_image, self.AN_IMAGE)
self.assertEqual(actual_robot_pose, self.A_ROBOT_POSE)
def test_givenColorAndCalibratedTableImage_whenFindPuck_thenUsePuckDetectorToDetectRightColor(
self,
):
self.image_calibrator.calibrate.return_value = self.AN_IMAGE
a_color = Color.YELLOW
self.vision_service.find_puck_position(a_color)
self.puck_detector.detect.assert_called_with(self.AN_IMAGE, a_color)
def test_givenPuckDetectedByDetector_whenFindPuck_thenReturnPuckPosition(self):
self.puck_detector.detect.return_value = self.A_POSITION
actual_position = self.vision_service.find_puck_position(self.A_COLOR)
self.assertEqual(self.A_POSITION, actual_position)
def test_whenCreateGameTable_thenAllPucksAreDetected(self):
self.world_camera.take_world_image.return_value = self.AN_IMAGE
self.image_calibrator.calibrate.return_value = self.AN_IMAGE
expected_calls = [
call(self.AN_IMAGE, color) for color in Color if color != Color.NONE
]
self.vision_service.create_game_table()
self.puck_detector.detect.assert_has_calls(expected_calls)
def test_givenPucksDetected_whenCreateGameTable_thenGameTableHasPucks(self):
self.puck_detector.detect.return_value = self.A_POSITION
puck_colors = len(Color) - 1
actual_game_table = self.vision_service.create_game_table()
self.assertEqual(len(actual_game_table.get_pucks()), puck_colors)