engagement_generation: engagement_generation/test/edu/wpi/hri/gen/policy/TurnPositionPolicyTest.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.APAction;
00011 import edu.wpi.hri.bml.XMLInterface;
00012 import edu.wpi.hri.gen.Generation;
00013 import edu.wpi.hri.gen.comm.BMLEmitListener;
00014 import edu.wpi.hri.gen.ebml.EBMLList;
00015 import edu.wpi.hri.gen.policy.TurnPositionPolicy.APWaiter;
00016 import edu.wpi.hri.log.Logger;
00017 
00018 public class TurnPositionPolicyTest extends TestCase {
00019 
00020         @Test
00021         public void testPolicy() throws RosException {
00022                 String actor = "actor-test";
00023                 NodeHandle handle = Ros.getInstance().createNodeHandle();
00024                 Logger logger = Logger.createDefault();
00025                 BMLEmitListener emit = new BMLEmitListener(handle, logger);
00026                 TurnPositionPolicy policy = new TurnPositionPolicy(handle, logger,
00027                                 emit, true);
00028                 XMLInterface xml = Generation.createXML(logger);
00029 
00030                 try {
00031                         // beginning of first turn
00032                         EBMLList list = new EBMLList(logger, xml, "list-id");
00033                         assertNull(policy.apply(list, "BEGINNING", actor, true, false, ""));
00034                         assertEquals(2, list.size());
00035 
00036                         // beginning of response
00037                         list = new EBMLList(logger, xml, "list-id");
00038                         assertNull(policy.apply(list, "BEGINNING", actor, false, false, ""));
00039                         assertEquals(2, list.size());
00040 
00041                         // middle, turn doesn't matter
00042                         list = new EBMLList(logger, xml, "list-id");
00043                         assertNull(policy.apply(list, "MIDDLE", actor, false, false, ""));
00044                         assertEquals(2, list.size());
00045 
00046                         // end, turn doesn't matter
00047                         list = new EBMLList(logger, xml, "list-id");
00048                         assertNotNull(policy.apply(list, "END", actor, false, false, ""));
00049                         assertNotSame(2, list.size());
00050 
00051                         // full of first turn
00052                         list = new EBMLList(logger, xml, "list-id");
00053                         APWaiter waiter = policy.apply(list, "FULL", actor, false, false,
00054                                         "");
00055                         assertNotNull(waiter);
00056                         assertNotSame(2, list.size());
00057                         assertEquals(APAction.NO_ACTION, waiter.getResponse());
00058 
00059                         // full of response
00060                         list = new EBMLList(logger, xml, "list-id");
00061                         APWaiter second = policy
00062                                         .apply(list, "FULL", actor, true, false, "");
00063                         assertNotNull(second);
00064                         assertNotSame(waiter, second);
00065                         assertNotSame(2, list.size());
00066 
00067                         // backchannel, add nothing
00068                         list = new EBMLList(logger, xml, "list-id");
00069                         assertNull(policy.apply(list, "BACKCHANNEL", actor, false, false,
00070                                         ""));
00071                         assertEquals(2, list.size());
00072 
00073                         // Beginning, delay should add stuff
00074                         list = new EBMLList(logger, xml, "list-id");
00075                         assertNull(policy.apply(list, "BEGINNING", actor, false, true, ""));
00076                         assertNotSame(2, list.size());
00077 
00078                         // middle, delay should add stuff
00079                         list = new EBMLList(logger, xml, "list-id");
00080                         assertNull(policy.apply(list, "MIDDLE", actor, false, true, ""));
00081                         assertNotSame(2, list.size());
00082                 } catch (Exception e) {
00083                         fail("none should fail: " + e.getMessage());
00084                 }
00085 
00086                 try {
00087                         // end and delay should not be allowed
00088                         EBMLList list = new EBMLList(logger, xml, "list-id");
00089                         policy.apply(list, "END", actor, false, true, "");
00090                         fail("End and delay should throw exception");
00091                 } catch (Exception e) {
00092                 }
00093 
00094                 try {
00095                         // end and delay should not be allowed
00096                         EBMLList list = new EBMLList(logger, xml, "list-id");
00097                         policy.apply(list, "FULL", actor, false, true, "");
00098                         fail("Full and delay should throw exception");
00099                 } catch (Exception e) {
00100                 }
00101 
00102                 try {
00103                         // end and delay should not be allowed
00104                         EBMLList list = new EBMLList(logger, xml, "list-id");
00105                         policy.apply(list, "BACKCHANNEL", actor, false, true, "");
00106                         fail("Backchannel and delay should throw exception");
00107                 } catch (Exception e) {
00108                 }
00109 
00110                 policy.shutdown();
00111                 emit.shutdown();
00112                 handle.shutdown();
00113         }
00114 }