def setUp(self):
buoyData = {vision.Color.YELLOW: vision.BuoyEvent()}
BuoyTrackingTest.setUp(self,
buoy.Recover,
buoy.Recover,
buoy.Searching,
buoyData=buoyData)
def testBuoyLost(self):
"""Make sure losing the light goes back to search"""
# Put a fake event in the buoyData
event = vision.BuoyEvent(-0.5, 0.5, vision.Color.YELLOW)
self.ai.data['buoyData'][vision.Color.YELLOW] = event
self.injectEvent(vision.EventType.BUOY_LOST, vision.BuoyEvent,
color = vision.Color.YELLOW)
self.assertCurrentState(buoy.FindAttempt)
def testIncorrectBuoyLost(self):
"""
Buoy data for incorrect buoys should be deleted, but the state
should not be changed
"""
event = vision.BuoyEvent(0.0, 0.0, vision.Color.RED)
self.ai.data['buoyData'][vision.Color.RED] = event
self.injectEvent(vision.EventType.BUOY_LOST, vision.BuoyEvent,
color = vision.Color.RED)
#self.assert_(not self.ai.data['buoyData'].has_key(vision.Color.RED))
self.assertCurrentState(self._myState)
def testBuoyLost(self):
"""
Buoy data should be deleted and the state should change to the
lost state
"""
# Setup the dictionary as if we had received a found event
event = vision.BuoyEvent(0.0, 0.0, vision.Color.YELLOW)
self.ai.data['buoyData'][vision.Color.YELLOW] = event
self.injectEvent(vision.EventType.BUOY_LOST, vision.BuoyEvent,
color = vision.Color.YELLOW)
#self.assert_(not self.ai.data['buoyData'].has_key(vision.Color.YELLOW))
self.assertCurrentState(self._lostState)
def testBuoyLost(self):
"""Make sure losing the light goes back to search"""
BuoyTrackingTest.testBuoyLost(self)
# Add a lastLightEvent for FindAttempt
self.ai.data['buoyData'][vision.Color.YELLOW] = \
vision.BuoyEvent(0, 0, vision.Color.YELLOW)
self.injectEvent(vision.EventType.LIGHT_LOST, vision.BuoyEvent,
color = vision.Color.YELLOW)
self.assertCurrentState(buoy.FindAttemptSeek)
# Test that it reenters Seek when it's refound
self.injectEvent(vision.EventType.BUOY_FOUND, vision.BuoyEvent,
0, 0, vision.Color.YELLOW)
self.assertCurrentState(buoy.Seek)