engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/HIMFGPolicyTest.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 ros.pkg.engagement_msgs.msg.HumanMutualFacialGaze;
00011 import edu.wpi.hri.bml.XMLInterface;
00012 import edu.wpi.hri.comm.MasterSpinner;
00013 import edu.wpi.hri.gen.Generation;
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 HIMFGPolicyTest extends TestCase {
00019 
00020         private boolean called = false;
00021 
00022         @Test
00023         public void testPolicy() throws RosException {
00024                 Logger logger = Logger.createDefault();
00025                 XMLInterface xml = Generation.createXML(logger);
00026                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00027                 MasterSpinner spin = new MasterSpinner(logger, false);
00028                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00029                 GazeKnowledge gaze = new GazeKnowledge(handle, logger, xml, realizer) {
00030                         @Override
00031                         public boolean trySetGaze(String target) {
00032                                 called = true;
00033                                 return true;
00034                         }
00035                 };
00036                 HIMFGPolicy policy = new HIMFGPolicy(handle, logger, gaze, gaze);
00037 
00038                 assertFalse(called);
00039                 HumanMutualFacialGaze mfgrequest = new HumanMutualFacialGaze();
00040                 mfgrequest.timeout = 0;
00041                 mfgrequest.actor.id = "actor-test";
00042                 policy.call(mfgrequest);
00043                 assertTrue(called);
00044 
00045                 policy.shutdown();
00046                 gaze.shutdown();
00047                 realizer.shutdown();
00048                 spin.stop();
00049                 spin.joinOldMasters();
00050                 handle.shutdown();
00051         }
00052 
00053 }