def setUp(self, extraDeps=None, cfg=None):
# Handle case where the timer is still mocked for some reason, we make
# sure to un mock it
if AITestCase.__timerMocked:
self.mockTimer()
# Replace the Timer class with the Mock one
self.mockTimer()
if extraDeps is None:
extraDeps = []
if cfg is None:
cfg = {}
self.eventHub = core.EventHub()
self.qeventHub = core.QueuedEventHub(self.eventHub)
self.timerManager = timer.TimerManager(deps=[self.eventHub])
self.estimator = MockEstimator(cfg=cfg.get('StateEstimator', {}))
self.controller = MockController(eventHub=self.eventHub,
estimator=self.estimator)
self.vehicle = MockVehicle(cfg=cfg.get('Vehicle', {}))
self.visionSystem = MockVisionSystem()
aCfg = cfg.get('Ai', {})
self.ai = AI(aCfg)
deps = [
self.controller, self.timerManager, self.eventHub, self.qeventHub,
self.vehicle, self.visionSystem, self.ai, self.estimator
]
mCfg = cfg.get('MotionManager', {})
self.motionManager = motion.basic.MotionManager(mCfg, deps)
deps.append(self.motionManager)
deps.extend(extraDeps)
sCfg = cfg.get('StateMachine', {})
self.machine = state.Machine(cfg=sCfg, deps=deps)
def setUp(self, extraDeps = None, cfg = None):
# Handle case where the timer is still mocked for some reason, we make
# sure to un mock it
if AITestCase.__timerMocked:
self.mockTimer()
# Replace the Timer class with the Mock one
self.mockTimer()
if extraDeps is None:
extraDeps = []
if cfg is None:
cfg = {}
self.eventHub = core.EventHub()
self.qeventHub = core.QueuedEventHub(self.eventHub)
self.timerManager = timer.TimerManager(deps = [self.eventHub])
self.estimator = MockEstimator(cfg = cfg.get('StateEstimator', {}))
self.controller = MockController(
eventHub = self.eventHub,
estimator = self.estimator)
self.vehicle = MockVehicle(cfg = cfg.get('Vehicle', {}))
self.visionSystem = MockVisionSystem()
aCfg = cfg.get('Ai', {})
self.ai = AI(aCfg)
deps = [self.controller, self.timerManager, self.eventHub,
self.qeventHub, self.vehicle, self.visionSystem, self.ai,
self.estimator]
mCfg = cfg.get('MotionManager', {})
self.motionManager = motion.basic.MotionManager(mCfg, deps)
deps.append(self.motionManager)
deps.extend(extraDeps)
sCfg = cfg.get('StateMachine', {})
self.machine = state.Machine(cfg = sCfg, deps = deps)
class AITestCase(unittest.TestCase):
TIMER_ORIG = timer.Timer
__timerMocked = False
def mockSleep(self, seconds):
self.seconds = seconds
def mockTimer(self):
if AITestCase.__timerMocked:
assert timer.Timer == MockTimer
# Put the original timer class back
timer.Timer = AITestCase.TIMER_ORIG
AITestCase.__timerMocked = False
else:
assert timer.Timer != MockTimer
# Replace Timer with out Mock Timer Class
timer.Timer = MockTimer
AITestCase.__timerMocked = True
def setUp(self, extraDeps=None, cfg=None):
# Handle case where the timer is still mocked for some reason, we make
# sure to un mock it
if AITestCase.__timerMocked:
self.mockTimer()
# Replace the Timer class with the Mock one
self.mockTimer()
if extraDeps is None:
extraDeps = []
if cfg is None:
cfg = {}
self.eventHub = core.EventHub()
self.qeventHub = core.QueuedEventHub(self.eventHub)
self.timerManager = timer.TimerManager(deps=[self.eventHub])
self.controller = MockController(self.eventHub)
self.vehicle = MockVehicle(cfg=cfg.get('Vehicle', {}))
self.visionSystem = MockVisionSystem()
aCfg = cfg.get('Ai', {})
self.ai = AI(aCfg)
deps = [
self.controller, self.timerManager, self.eventHub, self.qeventHub,
self.vehicle, self.visionSystem, self.ai
]
mCfg = cfg.get('MotionManager', {})
self.motionManager = motion.basic.MotionManager(mCfg, deps)
deps.append(self.motionManager)
deps.extend(extraDeps)
sCfg = cfg.get('StateMachine', {})
self.machine = state.Machine(cfg=sCfg, deps=deps)
def tearDown(self):
# Put back the normal timer class
self.ai.unbackground()
self.mockTimer()
self.machine.stop()
def _createEvent(self, etype, eclass=core.Event, *args, **kwargs):
"""
Sends and event of the desired type and class into the state machine
@type etype: str
@param etype: The event type to give the event
@type eclass: Subclass of ext.core.Event
@param eclass: The class of the event object
"""
if kwargs.has_key('type'):
raise ValueError, "Keyword arguments cannot contain 'type'"
kwargs['type'] = etype
event = eclass(*args)
# Set desired class attributes
for attr, val in kwargs.iteritems():
setattr(event, attr, val)
return event
def injectEvent(self, etype, eclass=core.Event, *args, **kwargs):
event = self._createEvent(etype, eclass, *args, **kwargs)
sendToBranches = False
if kwargs.has_key('sendToBranches'):
sendToBranches = True
del kwargs['sendToBranches']
self.machine.injectEvent(event, _sendToBranches=sendToBranches)
def publishQueuedEvent(self,
publisher,
etype,
eclass=core.Event,
*args,
**kwargs):
event = self._createEvent(etype, eclass, *args, **kwargs)
self.qeventHub.publish(etype, event)
self.qeventHub.publishEvents()
def releaseTimer(self, eventType):
timer = MockTimer.LOG[eventType]
# Make sure the timer has actual been started
self.assert_(timer.started)
# Release the timer finished event
timer.finish()
self.qeventHub.publishEvents()
# def releaseTimer(self, timer):
# """
# Stops a spinning background timer, joins it, then releases its event
# """
# assert self.timerBlock, "Must set self.timerBlock to be true"
#
# # Stops the background loop
# self.timerBlock = False
# timer.join()
# # Releases the event the timer published when the loop stopped
# self.qeventHub.publishEvents()
def assertCurrentState(self, stateType):
"""
Compares the type of the current state machine state to the given one
"""
self.assertEquals(stateType, type(self.machine.currentState()))
def assertCurrentBranchState(self, branchState, stateType):
"""
Compares the type of the current state machine state to the given one
"""
self.assert_(self.machine.branches.has_key(branchState))
branch = self.machine.branches[branchState]
self.assertEquals(stateType, type(branch.currentState()))
def assertCurrentMotion(self, motionType):
"""
Compares the type of the current motion to the given one
"""
current = self.motionManager.currentMotion
currentType = type(self.motionManager.currentMotion)
def getType(val):
if val is None:
return None
else:
return type(val)
if types.TupleType == currentType:
currentType = (getType(current[0]), getType(current[1]),
getType(current[2]))
self.assertEquals(motionType, currentType)
def assertCurrentMotionList(self, motionList):
"""
Compares the type of the current motion queue to the given one.
It includes the current motion.
"""
# Get the current motion list
currentList = self.motionManager.currentMotionList
# Check if None
if motionList is None:
return currentList is None
# The motionList should be a list if it isn't None
if types.ListType != type(motionList):
raise Exception('A list must be sent into assertCurrentMotionList')
# Check the current motion first
current = motionList[0]
self.assertCurrentMotion(current)
# Parse out the current motion from the motion list
currentList = currentList[1:]
motionList = motionList[1:]
# Make sure there are the same number of motions in both lists
if len(currentList) != len(motionList):
return False
# Iterate through the list and check the types
for c, m in zip(currentList, motionList):
if type(c) != m:
return False
# The motion list is the same if it's reached this point in the code
return True
def assertCurrentBranches(self, branches):
for branch in branches:
self.assert_(self.machine.branches.has_key(branch))
self.assertEqual(len(branches), len(self.machine.branches))
def assertLessThan(self, a, b):
if not (a < b):
self.fail(str(a) + " is not less than " + str(b))
def assertGreaterThan(self, a, b):
if not (a > b):
self.fail(str(a) + " is not greater than " + str(b))
def assertAIDataValue(self, key, value):
self.assert_(self.ai.data.has_key(key))
self.assertEqual(value, self.ai.data[key])
def assertDataValue(self, data, key, value):
self.assert_(data.has_key(key))
self.assertEqual(value, data[key])
class AITestCase(unittest.TestCase):
TIMER_ORIG = timer.Timer
__timerMocked = False
def mockSleep(self, seconds):
self.seconds = seconds
def mockTimer(self):
if AITestCase.__timerMocked:
assert timer.Timer == MockTimer
# Put the original timer class back
timer.Timer = AITestCase.TIMER_ORIG
AITestCase.__timerMocked = False
else:
assert timer.Timer != MockTimer
# Replace Timer with out Mock Timer Class
timer.Timer = MockTimer
AITestCase.__timerMocked = True
def setUp(self, extraDeps = None, cfg = None):
# Handle case where the timer is still mocked for some reason, we make
# sure to un mock it
if AITestCase.__timerMocked:
self.mockTimer()
# Replace the Timer class with the Mock one
self.mockTimer()
if extraDeps is None:
extraDeps = []
if cfg is None:
cfg = {}
self.eventHub = core.EventHub()
self.qeventHub = core.QueuedEventHub(self.eventHub)
self.timerManager = timer.TimerManager(deps = [self.eventHub])
self.estimator = MockEstimator(cfg = cfg.get('StateEstimator', {}))
self.controller = MockController(
eventHub = self.eventHub,
estimator = self.estimator)
self.vehicle = MockVehicle(cfg = cfg.get('Vehicle', {}))
self.visionSystem = MockVisionSystem()
aCfg = cfg.get('Ai', {})
self.ai = AI(aCfg)
deps = [self.controller, self.timerManager, self.eventHub,
self.qeventHub, self.vehicle, self.visionSystem, self.ai,
self.estimator]
mCfg = cfg.get('MotionManager', {})
self.motionManager = motion.basic.MotionManager(mCfg, deps)
deps.append(self.motionManager)
deps.extend(extraDeps)
sCfg = cfg.get('StateMachine', {})
self.machine = state.Machine(cfg = sCfg, deps = deps)
def tearDown(self):
# Put back the normal timer class
self.ai.unbackground()
self.mockTimer()
self.machine.stop()
def _createEvent(self, etype, eclass = core.Event, *args, **kwargs):
"""
Sends and event of the desired type and class into the state machine
@type etype: str
@param etype: The event type to give the event
@type eclass: Subclass of ext.core.Event
@param eclass: The class of the event object
"""
if kwargs.has_key('type'):
raise ValueError, "Keyword arguments cannot contain 'type'"
kwargs['type'] = etype
event = eclass(*args)
# Set desired class attributes
for attr, val in kwargs.iteritems():
setattr(event, attr, val)
return event
def injectEvent(self, etype, eclass = core.Event, *args, **kwargs):
event = self._createEvent(etype, eclass, *args, **kwargs)
sendToBranches = False
if kwargs.has_key('sendToBranches'):
sendToBranches = True
del kwargs['sendToBranches']
self.machine.injectEvent(event, _sendToBranches = sendToBranches)
def publishQueuedEvent(self, publisher, etype, eclass = core.Event, *args,
**kwargs):
event = self._createEvent(etype, eclass, *args, **kwargs)
self.qeventHub.publish(etype, event)
self.qeventHub.publishEvents()
def releaseTimer(self, eventType):
print MockTimer.LOG
print eventType
timer = MockTimer.LOG[eventType]
# Make sure the timer has actual been started
self.assert_(timer.started)
# Release the timer finished event
timer.finish()
self.qeventHub.publishEvents()
# def releaseTimer(self, timer):
# """
# Stops a spinning background timer, joins it, then releases its event
# """
# assert self.timerBlock, "Must set self.timerBlock to be true"
#
# # Stops the background loop
# self.timerBlock = False
# timer.join()
# # Releases the event the timer published when the loop stopped
# self.qeventHub.publishEvents()
def assertCurrentState(self, stateType):
"""
Compares the type of the current state machine state to the given one
"""
self.assertEquals(stateType, type(self.machine.currentState()))
def assertCurrentBranchState(self, branchState, stateType):
"""
Compares the type of the current state machine state to the given one
"""
self.assert_(self.machine.branches.has_key(branchState))
branch = self.machine.branches[branchState]
self.assertEquals(stateType, type(branch.currentState()))
def assertCurrentMotion(self, motionType):
"""
Compares the type of the current motion to the given one
"""
current = self.motionManager.currentMotion
currentType = type(self.motionManager.currentMotion)
def getType(val):
if val is None:
return None
else:
return type(val)
if types.TupleType == currentType:
currentType = (getType(current[0]), getType(current[1]),
getType(current[2]))
self.assertEquals(motionType, currentType)
def assertCurrentMotionList(self, motionList):
"""
Compares the type of the current motion queue to the given one.
It includes the current motion.
"""
# Get the current motion list
currentList = self.motionManager.currentMotionList
# Check if None
if motionList is None:
return currentList is None
# The motionList should be a list if it isn't None
if types.ListType != type(motionList):
raise Exception('A list must be sent into assertCurrentMotionList')
# Check the current motion first
current = motionList[0]
self.assertCurrentMotion(current)
# Parse out the current motion from the motion list
currentList = currentList[1:]
motionList = motionList[1:]
# Make sure there are the same number of motions in both lists
if len(currentList) != len(motionList):
return False
# Iterate through the list and check the types
for c, m in zip(currentList, motionList):
if type(c) != m:
return False
# The motion list is the same if it's reached this point in the code
return True
def assertCurrentBranches(self, branches):
for branch in branches:
self.assert_(self.machine.branches.has_key(branch))
self.assertEqual(len(branches), len(self.machine.branches))
def assertLessThan(self, a, b):
if not (a < b):
self.fail(str(a) + " is not less than " + str(b))
def assertGreaterThan(self, a, b):
if not (a > b):
self.fail(str(a) + " is not greater than " + str(b))
def assertAIDataValue(self, key, value):
self.assert_(self.ai.data.has_key(key))
self.assertEqual(value, self.ai.data[key])
def assertDataValue(self, data, key, value):
self.assert_(data.has_key(key))
self.assertEqual(value, data[key])
