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

00001 package edu.wpi.hri.gen.policy;
00002 
00003 import java.util.ArrayList;
00004 import java.util.List;
00005 
00006 import junit.framework.TestCase;
00007 
00008 import org.junit.Test;
00009 
00010 import ros.NodeHandle;
00011 import ros.Ros;
00012 import ros.RosException;
00013 import ros.pkg.bml_msgs.msg.Entity;
00014 import ros.pkg.bml_msgs.msg.Flag;
00015 import ros.pkg.engagement_msgs.msg.Performance;
00016 import edu.wpi.hri.bml.XMLInterface;
00017 import edu.wpi.hri.comm.MasterSpinner;
00018 import edu.wpi.hri.gen.Generation;
00019 import edu.wpi.hri.gen.comm.BMLRealizer;
00020 import edu.wpi.hri.gen.comm.GazeKnowledge;
00021 import edu.wpi.hri.log.Logger;
00022 
00023 public class GazeInterestPolicyTest extends TestCase {
00024 
00025         private boolean called = false;
00026 
00027         @Test
00028         public void testPolicy() throws RosException {
00029                 Logger logger = Logger.createDefault();
00030                 XMLInterface xml = Generation.createXML(logger);
00031                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00032                 MasterSpinner spin = new MasterSpinner(logger, false);
00033                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00034                 GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer) {
00035                         @Override
00036                         public boolean trySetGaze(String target) {
00037                                 called = true;
00038                                 return true;
00039                         }
00040                 };
00041                 GazeInterestPolicy policy = new GazeInterestPolicy(handle, logger, gaze, gaze);
00042 
00043                 ArrayList<Entity> targets = new ArrayList<Entity>();
00044                 Entity ent = new Entity();
00045                 ent.id = "target-1";
00046                 ent.type = Entity.UNKNOWN;
00047                 targets.add(ent);
00048 
00049                 assertFalse(called);
00050                 Performance request = new Performance();
00051                 request.actor.id = "actor-test";
00052                 request.begin.value = Flag.BEGIN;
00053                 request.objects = targets;
00054                 request.prob = new float[targets.size()];
00055                 for (int c = 0; c < request.prob.length; c++)
00056                         request.prob[c] = 1.0f;
00057 
00058                 policy.call(request);
00059                 assertTrue(called);
00060 
00061                 called = false;
00062                 request.begin.value = Flag.END;
00063                 policy.call(request);
00064                 assertFalse(called);
00065 
00066                 policy.shutdown();
00067                 gaze.shutdown();
00068                 realizer.shutdown();
00069                 spin.stop();
00070                 spin.joinOldMasters();
00071                 handle.shutdown();
00072         }
00073 }