engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/ref/ReferenceOptionsTest.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.log.Logger;
00022 
00023 public class ReferenceOptionsTest extends TestCase {
00024 
00025         @Test
00026         public void testReferenceOptions() throws RosException {
00027                 Logger logger = Logger.createDefault();
00028                 XMLInterface xml = new XMLInterface(logger, new File("ebml.xsd"));
00029                 ReferenceBehavior ref = EBMLListTest.createReference(logger, xml,
00030                                 "GS-REF", "object", 0.75);
00031 
00032                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00033                 SituationKnowledge situation = new SituationKnowledge(logger, handle);
00034                 GestureState state = new GestureState(new Point(1, 2, 3), new Point(4,
00035                                 5, 6), new Point(7, 8, 9));
00036                 MasterSpinner spin = new MasterSpinner(logger, false);
00037                 BMLRealizer realizer = new BMLRealizer(handle, spin, logger);
00038                 GazeKnowledge knowledge = new GazeKnowledge(handle, logger, xml,
00039                                 realizer);
00040 
00041                 EntityPosition pos = new EntityPosition();
00042                 pos.entity.id = "object";
00043                 pos.entity.type = Entity.OBJECT;
00044                 pos.x = -1;
00045                 pos.y = -2;
00046                 pos.z = -3;
00047                 pos.rotation = 0;
00048                 situation.call(pos);
00049 
00050                 pos = new EntityPosition();
00051                 pos.entity.id = "ROBOT";
00052                 pos.entity.type = Entity.UNKNOWN;
00053                 pos.x = -20;
00054                 pos.y = -30;
00055                 pos.z = 0;
00056                 pos.rotation = 0;
00057                 situation.call(pos);
00058 
00059                 // now start the testing
00060                 try {
00061                         NoPointZone noZone = new NoPointZone(logger, situation, knowledge);
00062                         ReferenceOptions options = new ReferenceOptions(logger, ref,
00063                                         situation);
00064                         double best = options.findBest(situation, state, noZone);
00065 
00066                         options.setNextOption(new ReferenceOptions(logger, ref, situation));
00067                         assertTrue(options.findBest(situation, state, noZone) > best);
00068 
00069                         assertNotNull(options.createSpeech());
00070                         options.createGaze();
00071                         options.createPoint(situation);
00072                 } catch (Exception e) {
00073                         fail("the basic reference behavior is bad");
00074                 }
00075 
00076                 situation.shutdown();
00077                 handle.shutdown();
00078         }
00079 
00080 }