def testForwardsMovement(self):
# Stop the machine
self.machine.stop()
# Set the range to far away but outside of the radius
self.ai.data['lastLightEvent'] = vision.RedLightEvent(0.8, 0.8)
self.ai.data['lastLightEvent'].range = 10
# Restart the machine and make sure it does nothing
self.machine.start(light.Recover)
self.assertCurrentMotion(type(None))
self.assertAlmostEqual(self.controller.getSpeed(), 0, 5)
self.assertAlmostEqual(self.controller.getSidewaysSpeed(), 0, 5)
self.assertAlmostEqual(0, self.controller.yawChange, 5)
# Now stop the machine and give it a valid value
self.machine.stop()
self.ai.data['lastLightEvent'] = vision.RedLightEvent()
self.ai.data['lastLightEvent'].range = 10
# Star the machine again
self.machine.start(light.Recover)
self.assertCurrentMotion(motion.basic.MoveDirection)
self.assertAlmostEqual(self.controller.getSpeed(), 1, 5)
self.assertAlmostEqual(self.controller.getSidewaysSpeed(), 0, 5)
# Test that we find it
self.injectEvent(vision.EventType.LIGHT_FOUND, vision.RedLightEvent, 0, 0)
self.qeventHub.publishEvents()
self.assertCurrentState(light.Align)
def testTimeout(self):
self.assertCurrentState(light.FindAttempt)
# For Recover
self.ai.data['lastLightEvent'] = vision.RedLightEvent(0, 0)
self.releaseTimer(state.FindAttempt.TIMEOUT)
self.assertCurrentState(light.Recover)
def testOutsideRadius(self):
# Stop the machine
self.machine.stop()
# Set the light event to outside the radius but not in the inner range
self.ai.data['lastLightEvent'] = vision.RedLightEvent(0.8, 0.8)
self.ai.data['lastLightEvent'].range = 7
# Restart the machine
self.machine.start(light.Recover)
self.assertCurrentMotion(motion.basic.RateChangeDepth)
self.assertLessThan(self.controller.yawChange, 0)
# Stop the machine and set the last light event to the opposite side
self.machine.stop()
self.ai.data['lastLightEvent'].x = -0.8
self.ai.data['lastLightEvent'].y = 0.0
# Restart the machine
self.machine.start(light.Recover)
self.assertCurrentMotion(motion.basic.RateChangeDepth)
self.assertGreaterThan(self.controller.yawChange, 0)
# Test that we find it
self.injectEvent(vision.EventType.LIGHT_FOUND, vision.RedLightEvent, 0,
0)
self.qeventHub.publishEvents()
self.assertCurrentState(light.Align)
# Stop the state machine
self.machine.stop()
# Set the light event to outside the radius and outside the far range
self.ai.data['lastLightEvent'] = vision.RedLightEvent(0.8, 0.8)
self.ai.data['lastLightEvent'].range = 9
# Make sure this does NOTHING
self.machine.start(light.Recover)
self.assertCurrentMotion(type(None))
self.assertAlmostEqual(0, self.controller.speed, 5)
self.assertAlmostEqual(0, self.controller.sidewaysSpeed, 5)
self.assertAlmostEqual(0, self.controller.yawChange, 5)
def testLightLost(self):
"""Make sure losing the light goes back to search"""
# Add a lastLightEvent for FindAttempt
self.ai.data['lastLightEvent'] = vision.RedLightEvent()
self.injectEvent(vision.EventType.LIGHT_LOST)
self.assertCurrentState(light.FindAttemptSeek)
# Test that it reenters Seek when it's refound
self.injectEvent(vision.EventType.LIGHT_FOUND, vision.RedLightEvent,
0, 0)
self.assertCurrentState(light.Seek)
def update(self, timestep):
if not self._sendEvents:
return
self._currentTime += timestep
sinVal = math.sin(self._currentTime)
eventLight = vision.RedLightEvent(sinVal, sinVal)
eventTarget = vision.TargetEvent(sinVal, sinVal * -1, sinVal * -2,
sinVal * -3)
eventBarbedWire = vision.BarbedWireEvent(sinVal, sinVal * -1,
sinVal * -2, sinVal * -3,
sinVal * -4, sinVal * -5)
if sinVal >= 0:
self.publish(vision.EventType.LIGHT_FOUND, eventLight)
self.publish(vision.EventType.TARGET_LOST, eventTarget)
self.publish(vision.EventType.BARBED_WIRE_FOUND, eventBarbedWire)
else:
self.publish(vision.EventType.LIGHT_LOST, eventLight)
self.publish(vision.EventType.TARGET_FOUND, eventTarget)
self.publish(vision.EventType.BARBED_WIRE_LOST, eventBarbedWire)
def setUp(self):
support.AITestCase.setUp(self)
self.ai.data['lastLightEvent'] = vision.RedLightEvent()
self.machine.start(light.Recover)
