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)