class TestWalkingCapsule(unittest.TestCase):
def test_integration(self):
data = {}
self.connector = Connector(data)
self.connector.walking_capsule().start_walking(forward_key=WalkingCapsule.MEDIUM_FORWARD,
sidewards_key=WalkingCapsule.FAST_SIDEWARDS_RIGHT)
conf = get_config()["Behaviour"]["Common"]["Walking"]
self.assertEquals(conf[WalkingCapsule.MEDIUM_FORWARD], data["Walking.Forward"])
self.assertEquals(conf[WalkingCapsule.FAST_SIDEWARDS_RIGHT], data["Walking.Sideward"])
self.assertEquals(True, data["Walking.Active"])
def test_walking_not_active_on_only_zero_keys(self):
data = {}
self.walking_capsule = WalkingCapsule(data)
self.walking_capsule.start_walking()
self.assertTrue("Walking.Active" not in data)
def test_walking_not_active_on_only_zero_keys_2(self):
data = {
"Walking.Forward": 3,
"Walking.Sideward": 4,
"Walking.Angular": 2,
"Walking.Active": True
}
self.walking_capsule = WalkingCapsule(data)
self.walking_capsule.stop_walking()
self.assertEquals(0, data["Walking.Forward"])
self.assertEquals(0, data["Walking.Sideward"])
self.assertEquals(0, data["Walking.Angular"])
self.assertEquals(False, data["Walking.Active"])
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
def test_set_walking(self):
data = {"Walking.Active": False, "Walking.Forward": 0, "Walking.Angular": 0}
connector = Connector(data)
connector.walking_capsule().start_walking_plain(1, 2)
self.assertIs(data["Walking.Forward"], 1)
self.assertIs(data["Walking.Angular"], 2)
self.assertTrue(data["Walking.Active"])
connector.walking_capsule().stop_walking()
self.assertIs(data["Walking.Forward"], 0)
self.assertIs(data["Walking.Angular"], 0)
self.assertFalse(data["Walking.Active"])
def test_integration(self):
data = {}
self.connector = Connector(data)
self.connector.walking_capsule().start_walking(forward_key=WalkingCapsule.MEDIUM_FORWARD,
sidewards_key=WalkingCapsule.FAST_SIDEWARDS_RIGHT)
conf = get_config()["Behaviour"]["Common"]["Walking"]
self.assertEquals(conf[WalkingCapsule.MEDIUM_FORWARD], data["Walking.Forward"])
self.assertEquals(conf[WalkingCapsule.FAST_SIDEWARDS_RIGHT], data["Walking.Sideward"])
self.assertEquals(True, data["Walking.Active"])
def test_last_seen(self):
connector = Connector({"BallLastSeen": 1, "GoalYellowLastSeen": 2, "GoalBlueLastSeen": 3})
self.assertIs(connector.raw_vision_capsule().get_last_seen("Ball"), 1)
with self.assertRaises(KeyError):
connector.raw_vision_capsule().get_last_seen("Fliegendes Schwein")
with self.assertRaises(KeyError):
connector.raw_vision_capsule().get_last_seen("")
