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

00001 package edu.wpi.hri.gen.policy.ref;
00002 
00003 import java.io.File;
00004 
00005 import junit.framework.TestCase;
00006 
00007 import org.junit.Test;
00008 
00009 import ros.NodeHandle;
00010 import ros.Ros;
00011 import ros.RosException;
00012 import ros.pkg.bml_msgs.msg.Entity;
00013 import ros.pkg.bml_msgs.msg.EntityPosition;
00014 import edu.wpi.hri.bml.XMLInterface;
00015 import edu.wpi.hri.comm.MasterSpinner;
00016 import edu.wpi.hri.gen.comm.BMLRealizer;
00017 import edu.wpi.hri.gen.comm.GazeKnowledge;
00018 import edu.wpi.hri.gen.comm.SituationKnowledge;
00019 import edu.wpi.hri.gen.ebml.EBMLListTest;
00020 import edu.wpi.hri.gen.ebml.ReferenceBehavior;
00021 import edu.wpi.hri.gen.ebml.SpeechOption;
00022 import edu.wpi.hri.log.Logger;
00023 
00024 public class GestureSpeechPairTest extends TestCase {
00025 
00026         @Test
00027         public void testGestureSpeechPair() throws RosException {
00028                 Logger logger = Logger.createDefault();
00029                 GestureOption gesture = GestureOption.LAMBDA;
00030                 XMLInterface xml = new XMLInterface(logger, new File("ebml.xsd"));
00031                 ReferenceBehavior ref = EBMLListTest.createReference(logger, xml,
00032                                 "GS-REF", "object", 0.75);
00033                 SpeechOption speech = null;
00034                 for (SpeechOption so : ref.getSpeechOptions())
00035                         if (so.getText().isEmpty())
00036                                 speech = so;
00037 
00038                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00039                 SituationKnowledge situation = new SituationKnowledge(logger, handle);
00040                 GestureState state = new GestureState(new Point(1, 2, 3), new Point(4,
00041                                 5, 6), new Point(7, 8, 9));
00042                 MasterSpinner spin = new MasterSpinner(logger, false);
00043                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00044                 GazeKnowledge knowledge = new GazeKnowledge(handle, logger, xml,
00045                                 realizer);
00046 
00047                 EntityPosition pos = new EntityPosition();
00048                 pos.entity.id = "object";
00049                 pos.entity.type = Entity.OBJECT;
00050                 pos.x = -1;
00051                 pos.y = -2;
00052                 pos.z = -3;
00053                 pos.rotation = 0;
00054                 situation.call(pos);
00055 
00056                 pos = new EntityPosition();
00057                 pos.entity.id = "ROBOT";
00058                 pos.entity.type = Entity.UNKNOWN;
00059                 pos.x = -20;
00060                 pos.y = -30;
00061                 pos.z = 0;
00062                 pos.rotation = 0;
00063                 situation.call(pos);
00064 
00065                 // test the lambda first
00066                 GestureSpeechPair pair = new GestureSpeechPair(logger, gesture, speech,
00067                                 "object", situation);
00068                 assertEquals(gesture, pair.getGesture());
00069                 assertEquals(speech, pair.getSpeech());
00070 
00071                 // then test non-lambda something
00072                 for (SpeechOption so : ref.getSpeechOptions())
00073                         if (!so.getText().isEmpty())
00074                                 speech = so;
00075                 pair = new GestureSpeechPair(logger, GestureOption.GAZE, speech,
00076                                 "object", situation);
00077 
00078                 assertNotSame(0,
00079                                 pair.getCost(state, new NoPointZone(logger, situation, knowledge)));
00080                 assertNotSame(0, pair.getInherentReliability());
00081                 assertNotNull(pair.getDistractors(situation));
00082                 assertNotSame(state, pair.getNextState(state, situation));
00083 
00084                 situation.shutdown();
00085                 handle.shutdown();
00086         }
00087 }