def test_face_interaction1(self):
positive_gestures = [
x.strip() for x in self.behavior_config.get(
'gesture', 'positive_gestures').split(',')]
pub, msg_class = rostopic.create_publisher(
'/blender_api/available_emotion_states',
'blender_api_msgs/AvailableEmotionStates', True)
pub.publish(msg_class(['happy']))
queue = MessageQueue()
queue.subscribe('/blender_api/set_emotion_state', EmotionState)
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_on')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(20)
self.assertTrue(not queue.queue.empty())
emotions = []
gestures = []
while not queue.queue.empty():
msg = queue.get(timeout=1)
if isinstance(msg, EmotionState):
emotions.append(msg.name)
elif isinstance(msg, SetGesture):
gestures.append(msg.name)
self.assertTrue(set(['happy']) | set(emotions))
self.assertTrue(set(positive_gestures) & set(gestures))
def test_face_interaction1(self):
positive_gestures = [
x.strip() for x in self.behavior_config.get(
'gesture', 'positive_gestures').split(',')
]
pub, msg_class = rostopic.create_publisher(
'/blender_api/available_emotion_states',
'blender_api_msgs/AvailableEmotionStates', True)
pub.publish(msg_class(['happy']))
queue = MessageQueue()
queue.subscribe('/blender_api/set_emotion_state', EmotionState)
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_on')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(20)
self.assertTrue(not queue.queue.empty())
emotions = []
gestures = []
while not queue.queue.empty():
msg = queue.get(timeout=1)
if isinstance(msg, EmotionState):
emotions.append(msg.name)
elif isinstance(msg, SetGesture):
gestures.append(msg.name)
self.assertTrue(set(['happy']) | set(emotions))
self.assertTrue(set(positive_gestures) & set(gestures))
def test_btree_off(self):
queue = MessageQueue()
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.assertTrue(queue.queue.empty())
self.behavior_switch('btree_on')
msg = queue.get()
self.assertTrue(msg is not None)
def test_btree_off(self):
queue = MessageQueue()
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.assertTrue(queue.queue.empty())
self.behavior_switch('btree_on')
msg = queue.get()
self.assertTrue(msg is not None)
class Pau2MotorsTest(unittest.TestCase):
@classmethod
def setUpClass(self):
rospy.init_node('pau2motors_test')
wait_for('pau2motors')
os.system('rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
self.queue = MessageQueue()
self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)
def check_msg(self, msg, expect):
self.queue.clear()
self.pub.publish(msg)
msg = self.queue.get(2)
self.assertEqual(msg.data, expect)
def test_motor1(self):
msg = pau()
msg.m_headRotation.x = 0.5
msg.m_headRotation.y = 0.5
msg.m_headRotation.z = 0.0
msg.m_headRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, math.asin(0.5))
sub.unregister()
def test_motor2(self):
msg = pau()
msg.m_neckRotation.x = 1.0
msg.m_neckRotation.y = 0.5
msg.m_neckRotation.z = 0.0
msg.m_neckRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic2_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, 0.5) # max = 0.5
sub.unregister()
class Pau2MotorsTest(unittest.TestCase):
@classmethod
def setUpClass(self):
rospy.init_node('pau2motors_test')
wait_for('pau2motors')
os.system('rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
self.queue = MessageQueue()
self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)
def check_msg(self, msg, expect):
self.queue.clear()
self.pub.publish(msg)
msg = self.queue.get(2)
self.assertEqual(msg.data, expect)
def test_motor1(self):
msg = pau()
msg.m_headRotation.x = 0.5
msg.m_headRotation.y = 0.5
msg.m_headRotation.z = 0.0
msg.m_headRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, math.asin(0.5))
sub.unregister()
def test_motor2(self):
msg = pau()
msg.m_neckRotation.x = 1.0
msg.m_neckRotation.y = 0.5
msg.m_neckRotation.z = 0.0
msg.m_neckRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic2_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, 0.5) # max = 0.5
sub.unregister()
