def test_based_on_duty_y_center_for_tracking_is_set_correctly(self):
behaviour_mock = mock.MagicMock()
confirm = TrackBall()
confirm.setup_internals(behaviour_mock, {})
nt = namedtuple("x", "y")
nt.x = 0
nt.y = 0
connector = Connector(data={
DATA_KEY_BALL_FOUND: True,
DATA_KEY_BALL_INFO: nt,
"BallLastSeen": time.time(),
"Pose": PyPose(),
"Ipc": mock.MagicMock()
})
connector.set_duty("Goalie")
self.assertEquals("Goalie", connector.get_duty())
confirm.perform(connector)
confirm.perform(connector)
confirm.perform(connector)
confirm.perform(connector)
self.assertEqual(get_config()["Behaviour"]["Common"]["Tracking"]["yCenterGoalie"], confirm.b_center_goalie)
def setup_connector(self):
smi = SharedMemoryIPC()
connector = Connector(data={
DATA_KEY_BALL_FOUND: False,
"Pose": smi.get_pose(),
"Ipc": smi
})
connector.set_duty("Goalie")
return connector
