def setUp(self):
cfg = {
'Ai' : {
'config' : {
'targetWindows' : 'red'
}
}
}
support.AITestCase.setUp(self, cfg = cfg)
self.ai.data['windowData'] = { vision.Color.RED : vision.WindowEvent() }
def testFinish(self):
# Create a fake event with the y position positive
event = vision.WindowEvent()
event.x, event.y, event.color = (0, -0.75, vision.Color.YELLOW)
self.ai.data['windowData'][vision.Color.YELLOW] = event
# Start the machine
self.machine.start(window.CorrectHeight)
self.assertCurrentMotion(motion.basic.RateChangeDepth)
# Test motion finished
self.injectEvent(motion.basic.MotionManager.FINISHED)
self.assertCurrentState(window.SeekingToCentered)
def testUpwardMotion(self):
# Create a fake event with the y position positive
event = vision.WindowEvent()
event.x, event.y, event.color = (0, 0.75, vision.Color.YELLOW)
self.ai.data['windowData'][vision.Color.YELLOW] = event
# Start the machine
self.machine.start(window.CorrectHeight)
# Check if the dive motion is downwards (and follows the offset)
self.assertCurrentMotion(motion.basic.RateChangeDepth)
self.assertCurrentState(window.CorrectHeight)
desiredDepth = self.motionManager.currentMotion.desiredDepth
self.assertAlmostEqual(4.7, desiredDepth, 5)
def testTimeout(self):
"""
Make sure that the timeout works properly
"""
# Restart with a working timer
self.machine.stop()
self.machine.start(window.FindAttempt)
# Make sure the timer has the correct value
self.assertEquals(self.machine.currentState()._timeout,
TestFindAttempt.TIMEOUT)
# For Recover
self.ai.data['windowData'][vision.Color.RED] = vision.WindowEvent()
# Release timer
self.releaseTimer(state.FindAttempt.TIMEOUT)
# Test that the timeout worked properly
self.assertCurrentState(window.Recover)
self.assert_(self.visionSystem.windowDetector)