engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/GlancePolicyTest.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.GenerationParams;
00014 import edu.wpi.hri.gen.comm.BMLRealizer;
00015 import edu.wpi.hri.gen.comm.GazeKnowledge;
00016 import edu.wpi.hri.log.Logger;
00017 
00018 public class GlancePolicyTest extends TestCase {
00019 
00020         private int called = 0;
00021 
00022         @Test
00023         public void testPolicy() throws RosException, InterruptedException {
00024                 GenerationParams.GLANCE_DELAY_FACTOR.setInt(15);
00025                 GenerationParams.GLANCE_DURATION_MS.setInt(10);
00026 
00027                 Logger logger = Logger.createDefault();
00028                 XMLInterface xml = Generation.createXML(logger);
00029                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00030                 MasterSpinner spin = new MasterSpinner(logger, false);
00031                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00032                 GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer) {
00033                         @Override
00034                         public boolean trySetGaze(String target) {
00035                                 called++;
00036                                 return true;
00037                         }
00038                 };
00039                 GlancePolicy policy = new GlancePolicy(handle, logger, gaze, gaze);
00040 
00041                 // just an object
00042                 policy.gazeChanged("object-test", false, false);
00043                 assertEquals(0, called);
00044                 Thread.sleep(GenerationParams.GLANCE_DELAY_FACTOR.getInt() + 10);
00045                 assertEquals(0, called);
00046 
00047                 // the first face detected
00048                 policy.gazeChanged("face-test", true, false);
00049                 assertEquals(0, called);
00050                 Thread.sleep(GenerationParams.GLANCE_DELAY_FACTOR.getInt() + 10);
00051                 assertEquals(0, called);
00052 
00053                 // a face right after an object
00054                 policy.gazeChanged("object-test", false, false);
00055                 policy.gazeChanged("face-test", true, false);
00056                 Thread.sleep(GenerationParams.GLANCE_DELAY_FACTOR.getInt() + 10);
00057                 assertEquals(0, called);
00058 
00059                 // had a face now object
00060                 policy.gazeChanged("object-test", false, false);
00061                 assertEquals(0, called);
00062                 Thread.sleep(GenerationParams.GLANCE_DELAY_FACTOR.getInt()
00063                                 + GenerationParams.GLANCE_DURATION_MS.getInt() + 20);
00064                 assertEquals(2, called);
00065 
00066                 policy.shutdown();
00067                 gaze.shutdown();
00068                 realizer.shutdown();
00069                 spin.stop();
00070                 spin.joinOldMasters();
00071                 handle.shutdown();
00072         }
00073 }