engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/DefaultGazePolicyTest.java Source File

00001 package edu.wpi.hri.gen.policy;
00002 
00003 import junit.framework.TestCase;
00004 
00005 import org.junit.Test;
00006 
00007 import ros.NodeHandle;
00008 import ros.Ros;
00009 import ros.RosException;
00010 import edu.wpi.hri.bml.XMLInterface;
00011 import edu.wpi.hri.comm.MasterSpinner;
00012 import edu.wpi.hri.gen.Generation;
00013 import edu.wpi.hri.gen.comm.BMLRealizer;
00014 import edu.wpi.hri.gen.comm.GazeKnowledge;
00015 import edu.wpi.hri.log.Logger;
00016 
00017 public class DefaultGazePolicyTest extends TestCase {
00018 
00019         private boolean called = false;
00020 
00021         @Test
00022         public void testPolicy() throws RosException {
00023                 Logger logger = Logger.createDefault();
00024                 XMLInterface xml = Generation.createXML(logger);
00025                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00026                 MasterSpinner spin = new MasterSpinner(logger, false);
00027                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00028                 GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer) {
00029                         @Override
00030                         public boolean trySetGaze(String target) {
00031                                 called = true;
00032                                 return true;
00033                         }
00034                 };
00035                 DefaultGazePolicy policy = new DefaultGazePolicy(logger, handle, gaze, gaze);
00036 
00037                 called = false;
00038                 policy.gazeChanged("test-face", true, false);
00039                 assertFalse(called);
00040 
00041                 policy.gazeChanged("test-face", false, false);
00042                 assertFalse(called);
00043 
00044                 policy.gazeChanged(null, false, false);
00045                 assertTrue(called);
00046 
00047                 called = false;
00048                 policy.gazeChanged("", false, false);
00049                 assertTrue(called);
00050 
00051                 policy.shutdown();
00052                 gaze.shutdown();
00053                 realizer.shutdown();
00054                 spin.stop();
00055                 spin.joinOldMasters();
00056                 handle.shutdown();
00057         }
00058 }