Project: engagement_generation License: BSD Dependencies: engagement_msgs engagement_srvs bml_msgs bml_srvs bml_realizer Used by: None All Packages

engagement_generation/test/edu/wpi/hri/gen/comm/GazeKnowledgeTest.java Go to the documentation of this file. package edu.wpi.hri.gen.comm; import java.util.ArrayList; import java.util.List; import junit.framework.TestCase; import org.junit.After; import org.junit.Before; import org.junit.Test; import ros.NodeHandle; import ros.Ros; import ros.RosException; import ros.pkg.engagement_msgs.msg.ActorID; import ros.pkg.engagement_msgs.msg.BCOccurrence; import ros.pkg.bml_msgs.msg.BehaviorResult; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.Performance; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.gen.Generation; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.log.Logger; public class GazeKnowledgeTest extends TestCase { private NodeHandle handle; private Logger logger; private XMLInterface xml; private MasterSpinner spin; private BMLRealizer realizer; private GazeKnowledge gaze; private boolean listened; private class TestListener extends GazeListener { protected TestListener(GazeListener next) { super(next); } @Override public void gazeChanged(String target, boolean face, boolean lock) { listened = true; } } @Before @Override public void setUp() { handle = Ros.getInstance().createNodeHandle(); logger = Logger.createDefault(); xml = Generation.createXML(logger); spin = new MasterSpinner(logger, false); try { realizer = new BMLRealizer(handle, spin, logger) { @Override public Result sendBML(EBMLList list) { return new Result(Flag.SUCCESS, new ArrayList<BehaviorResult>(), new ArrayList<BCOccurrence>()); } }; gaze = new GazeKnowledge(handle, logger, xml, realizer); } catch (RosException e) { } gaze.addListener(new TestListener(gaze)); listened = false; } @Test public void testGetTarget() { assertTrue(gaze.getTarget() == null || gaze.getTarget().isEmpty()); String target = "face-test"; gaze.trySetGaze(target); assertEquals(target, gaze.getTarget()); } @Test public void testCallPerformance() { ArrayList<Entity> targets = new ArrayList<Entity>(); Entity ent = new Entity(); ent.id = "target-1"; ent.type = Entity.UNKNOWN; targets.add(ent); Performance perf = new Performance(); perf.actor.id = ActorID.ROBOT; perf.begin.value = Flag.BEGIN; perf.objects = targets; perf.prob = new float[targets.size()]; for (int c = 0; c < perf.prob.length; c++) perf.prob[c] = 1.0f; listened = false; gaze.call(perf); assertTrue(listened); listened = false; gaze.call(perf); assertFalse(listened); perf.objects.get(0).id = "target-2"; perf.begin.value = Flag.END; gaze.call(perf); assertFalse(listened); perf.begin.value = Flag.BEGIN; perf.actor.id = "face-test"; gaze.call(perf); assertFalse(listened); } @After @Override public void tearDown() throws Exception { gaze.shutdown(); realizer.shutdown(); spin.stop(); spin.joinOldMasters(); handle.shutdown(); } }

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engagement_generation
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:40 2011