def setUp(self): self.data_mock = {"Ipc": test_utils.get_init_pose(), "Debug": DebugMock()} # Mock the Pose pM = PyMock() pM._setSomething("HeadTilt.position", 1) pM._setSomething("HeadPan.position", 2) pM._setSomething("LAnkleRoll.position", 3) pM._setSomething("LAnklePitch.position", 4) pM._setSomething("RAnkleRoll.position", 5) pM._setSomething("RAnklePitch.position", 6) pM._setSomething("RHipPitch.position", 7) pM._setSomething("LHipPitch.position", 8) pM._setSomething("LKnee.position", 9) pM._setSomething("RKnee.position", 10) self.data_mock["Pose"] = pM data = {} tr_config = {"green_y": 55, "green_u": 30, "green_v": 15, "green_dynamic": True} data['ImageFormat'] = "YUYV" data["CameraExposureCalback"] = None data["CameraPose"] = PyPose() data["CameraResulution"] = (1280, 720) self.data = data
def ignore_test_rating_below_zero(self): pm = VisionModule() pm.start(self.data) self.data_mock["CameraFrameVersion"] = 1 self.data_mock["CameraPose"] = test_utils.get_init_pose() ball_info = (-1, (1, 2, 3)) pm.extract_ball_infos(self.data_mock, ball_info) self.assertFalse(self.data_mock["BallFound"])
def test_extract_goal_info(self): pm = VisionModule() pm.start(self.data) p = test_utils.get_init_pose() self.data_mock["Pose"] = p pm.transformer.update_pose(self.data_mock["Pose"]) self.data_mock["CameraFrameVersion"] = 1 goal_info = (((0,0,0),(0.0,0.0,0)), None) pm.extract_goal_infos(self.data_mock, goal_info) self.assertTrue(self.data_mock[DATA_KEY_GOAL_FOUND]) self.assertTrue(len(self.data_mock[DATA_KEY_GOAL_INFO]) == 2)
def prepare_data(self, locatorToggle = True, x_move = 0, y_move = 0, move_dir = 0, updated = False, new_frame = True, lp = None): data = {} config = {} toggel = {"Location": locatorToggle} config["Toggels"] = toggel config["vision"] = {} config["vision"]["CameraAngle"] = 86 data["Config"] = config data["Moving.X"] = x_move data["Moving.Y"] = y_move data["Moving.Direction"] = move_dir data["transformerUpdated"] = updated data["CameraPose"] = get_init_pose() data[DATA_KEY_IS_NEW_FRAME] = new_frame data["Ipc"] = None if lp is not None: data["LinePoints"] = lp return data
def start(self, data): data["Pose"] = testUtils.get_init_pose() data["Ipc"] = testUtils.get_Ipc() data[DATA_KEY_GOAL_MODEL] = LocalGoalModel() self.worldServiceClient.register_robot(self.player)