engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/HIDGPolicyTest.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.engagement_msgs.msg.HumanDirectedGaze;
00015 import edu.wpi.hri.bml.XMLInterface;
00016 import edu.wpi.hri.comm.MasterSpinner;
00017 import edu.wpi.hri.gen.Generation;
00018 import edu.wpi.hri.gen.comm.BMLRealizer;
00019 import edu.wpi.hri.gen.comm.GazeKnowledge;
00020 import edu.wpi.hri.log.Logger;
00021 
00022 public class HIDGPolicyTest extends TestCase {
00023 
00024         private boolean called = false;
00025 
00026         @Test
00027         public void testPolicy() throws RosException {
00028                 Logger logger = Logger.createDefault();
00029                 XMLInterface xml = Generation.createXML(logger);
00030                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00031                 MasterSpinner spin = new MasterSpinner(logger, false);
00032                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00033                 GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer) {
00034                         @Override
00035                         public boolean trySetGaze(String target) {
00036                                 called = true;
00037                                 return true;
00038                         }
00039                 };
00040                 HIDGPolicy policy = new HIDGPolicy(handle, logger, gaze, gaze);
00041 
00042                 ArrayList<Entity> targets = new ArrayList<Entity>();
00043                 Entity ent = new Entity();
00044                 ent.id = "target-1";
00045                 ent.type = Entity.UNKNOWN;
00046                 targets.add(ent);
00047 
00048                 assertFalse(called);
00049                 HumanDirectedGaze dgrequest = new HumanDirectedGaze();
00050                 dgrequest.objects = targets;
00051                 dgrequest.timeout = 0;
00052                 dgrequest.actor.id = "actor-test";
00053                 policy.call(dgrequest);
00054                 assertTrue(called);
00055 
00056                 policy.shutdown();
00057                 gaze.shutdown();
00058                 realizer.shutdown();
00059                 spin.stop();
00060                 spin.joinOldMasters();
00061                 handle.shutdown();
00062         }
00063 }