def setUp(self):
self.tmp_file = tempfile.NamedTemporaryFile()
self.fileh = tables.openFile(self.tmp_file.name, 'w')
self.client = MagicMock()
self.client.numUAVs = 2
self.recorder = ControlsRecorder(self.fileh, self.client)
self.recorder.init('Task', False)
class TestControlsRecorder(object):
def setUp(self):
self.tmp_file = tempfile.NamedTemporaryFile()
self.fileh = tables.openFile(self.tmp_file.name, 'w')
self.client = MagicMock()
self.client.numUAVs = 2
self.recorder = ControlsRecorder(self.fileh, self.client)
self.recorder.init('Task', False)
def tearDown(self):
self.fileh.close()
self.tmp_file.close()
def test_init_of_client_is_called(self):
self.client.init.assert_called_once_with('Task', False)
def test_has_attrs_of_client(self):
assert_that(self.recorder.numUAVs, is_(self.client.numUAVs))
assert_that(self.recorder.timestep, is_(self.client.timestep))
def tests_forwards_unknown_method_calls_to_client(self):
self.recorder.unknown_method('some arg')
self.client.unknown_method.assert_called_once_with('some arg')
def check_control_recording_type_specific_step(self, type):
dt = 0.1
steps = 3
dim = ctrl_signal_dimensions[type]
for i in xrange(steps):
getattr(self.recorder, 'step_' + type)(
dt, [range(dim), range(dim, 2 * dim)])
self.fileh.flush()
controls = self.recorder.controls
assert_that(controls.cols.type, only_contains(
getattr(ControlsRecorder.Controls.columns['type'].enum, type)))
assert_that(controls.cols.dt[:], only_contains(0.1))
assert_equal(
[x['U'][:dim] for x in controls.where('uav == 0')],
np.tile(range(dim), (steps, 1)))
assert_equal(
[x['U'][:dim] for x in controls.where('uav == 1')],
np.tile(range(dim, 2 * dim), (steps, 1)))
def check_control_recording_of_step(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
steps = 3
for i in xrange(steps):
self.recorder.step(dt, input_controls)
self.fileh.flush()
dim = ctrl_signal_dimensions[type]
controls = self.recorder.controls
assert_that(controls.cols.type, only_contains(
getattr(ControlsRecorder.Controls.columns['type'].enum, type)))
assert_that(controls.cols.dt[:], only_contains(0.1))
for i in xrange(self.recorder.numUAVs):
assert_equal(
[x['U'][:dim] for x in controls.where('uav == %i' % i)],
np.tile(dim * [i], (steps, 1)))
def check_client_step_called(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
self.recorder.step(dt, input_controls)
self.client.step.assert_called_once_with(dt, input_controls)
def check_client_step_type_specific_called(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
getattr(self.recorder, 'step_' + type)(dt, input_controls.U)
class MatchInputControls(object):
def __init__(self, obj):
self.obj = obj
def __eq__(self, other):
if self.obj.type != other.type:
return False
assert_equal(self.obj.U, other.U)
return True
self.client.step.assert_called_once_with(
dt, MatchInputControls(input_controls))
def test_records_controls(self):
for type in ctrl_signal_dimensions.keys():
yield self.check_control_recording_type_specific_step, type
yield self.check_control_recording_of_step, type
yield self.check_client_step_called, type
yield self.check_client_step_type_specific_called, type
