Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/test/lib/engagement_params_test.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include <gtest/gtest.h> #include <vector> #include <string> #include "../src/recognition/lib/engagement_params.h" TEST(EngagementParamsTestSuite, testNodeHandles) { // Create the node handles EngagementParams::createNodeHandles(); // Make sure all of them exist EXPECT_TRUE(EngagementParams::getBaseHandle()); EXPECT_TRUE(EngagementParams::getCollabHandle()); EXPECT_TRUE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_TRUE(EngagementParams::getConfBackchannelHandle()); EXPECT_TRUE(EngagementParams::getConfDirGazeHandle()); EXPECT_TRUE(EngagementParams::getConfHandle()); EXPECT_TRUE(EngagementParams::getConfMFGazeHandle()); EXPECT_TRUE(EngagementParams::getPerformingHandle()); EXPECT_TRUE(EngagementParams::getInternalHandle()); EXPECT_TRUE(EngagementParams::getRecogHandle()); EXPECT_TRUE(EngagementParams::getRecogHumanHandle()); EXPECT_TRUE(EngagementParams::getRecogRobotHandle()); EXPECT_TRUE(EngagementParams::getVisionHandle()); // Destroy the node handles EngagementParams::destroyNodeHandles(); // Make sure none exist EXPECT_FALSE(EngagementParams::getBaseHandle()); EXPECT_FALSE(EngagementParams::getCollabHandle()); EXPECT_FALSE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_FALSE(EngagementParams::getConfBackchannelHandle()); EXPECT_FALSE(EngagementParams::getConfDirGazeHandle()); EXPECT_FALSE(EngagementParams::getConfHandle()); EXPECT_FALSE(EngagementParams::getConfMFGazeHandle()); EXPECT_FALSE(EngagementParams::getPerformingHandle()); EXPECT_FALSE(EngagementParams::getInternalHandle()); EXPECT_FALSE(EngagementParams::getRecogHandle()); EXPECT_FALSE(EngagementParams::getRecogHumanHandle()); EXPECT_FALSE(EngagementParams::getRecogRobotHandle()); EXPECT_FALSE(EngagementParams::getVisionHandle()); // Destroy the node handles again EngagementParams::destroyNodeHandles(); // Make sure none exist still EXPECT_FALSE(EngagementParams::getBaseHandle()); EXPECT_FALSE(EngagementParams::getCollabHandle()); EXPECT_FALSE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_FALSE(EngagementParams::getConfBackchannelHandle()); EXPECT_FALSE(EngagementParams::getConfDirGazeHandle()); EXPECT_FALSE(EngagementParams::getConfHandle()); EXPECT_FALSE(EngagementParams::getConfMFGazeHandle()); EXPECT_FALSE(EngagementParams::getPerformingHandle()); EXPECT_FALSE(EngagementParams::getInternalHandle()); EXPECT_FALSE(EngagementParams::getRecogHandle()); EXPECT_FALSE(EngagementParams::getRecogHumanHandle()); EXPECT_FALSE(EngagementParams::getRecogRobotHandle()); EXPECT_FALSE(EngagementParams::getVisionHandle()); // Create the node handles EngagementParams::createNodeHandles(); // Make sure all of them exist EXPECT_TRUE(EngagementParams::getBaseHandle()); EXPECT_TRUE(EngagementParams::getCollabHandle()); EXPECT_TRUE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_TRUE(EngagementParams::getConfBackchannelHandle()); EXPECT_TRUE(EngagementParams::getConfDirGazeHandle()); EXPECT_TRUE(EngagementParams::getConfHandle()); EXPECT_TRUE(EngagementParams::getConfMFGazeHandle()); EXPECT_TRUE(EngagementParams::getPerformingHandle()); EXPECT_TRUE(EngagementParams::getInternalHandle()); EXPECT_TRUE(EngagementParams::getRecogHandle()); EXPECT_TRUE(EngagementParams::getRecogHumanHandle()); EXPECT_TRUE(EngagementParams::getRecogRobotHandle()); EXPECT_TRUE(EngagementParams::getVisionHandle()); // Create the node handles again EngagementParams::createNodeHandles(); // Make sure all of them still exist EXPECT_TRUE(EngagementParams::getBaseHandle()); EXPECT_TRUE(EngagementParams::getCollabHandle()); EXPECT_TRUE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_TRUE(EngagementParams::getConfBackchannelHandle()); EXPECT_TRUE(EngagementParams::getConfDirGazeHandle()); EXPECT_TRUE(EngagementParams::getConfHandle()); EXPECT_TRUE(EngagementParams::getConfMFGazeHandle()); EXPECT_TRUE(EngagementParams::getPerformingHandle()); EXPECT_TRUE(EngagementParams::getInternalHandle()); EXPECT_TRUE(EngagementParams::getRecogHandle()); EXPECT_TRUE(EngagementParams::getRecogHumanHandle()); EXPECT_TRUE(EngagementParams::getRecogRobotHandle()); EXPECT_TRUE(EngagementParams::getVisionHandle()); } TEST(EngagementParamsTestSuite, testBaseHandle) { EXPECT_TRUE(EngagementParams::getBaseHandle()); EXPECT_EQ("/",EngagementParams::getBaseHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testCollabHandle) { EXPECT_TRUE(EngagementParams::getCollabHandle()); EXPECT_EQ("/" + engagement::COLLAB_NAMESPACE, EngagementParams::getCollabHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testConfAPHandle) { EXPECT_TRUE(EngagementParams::getConfAdjacencyPairHandle()); EXPECT_EQ("/recognition_test/" + engagement::CONF_NAMESPACE + "/" + engagement::ADJACENCY_PAIR_NAMESPACE, EngagementParams::getConfAdjacencyPairHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testConfBCHandle) { EXPECT_TRUE(EngagementParams::getConfBackchannelHandle()); EXPECT_EQ("/recognition_test/" + engagement::CONF_NAMESPACE + "/" + engagement::BACKCHANNEL_NAMESPACE, EngagementParams::getConfBackchannelHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testConfDGHandle) { EXPECT_TRUE(EngagementParams::getConfDirGazeHandle()); EXPECT_EQ("/recognition_test/" + engagement::CONF_NAMESPACE + "/" + engagement::DIRECTED_GAZE_NAMESPACE, EngagementParams::getConfDirGazeHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testConfHandle) { EXPECT_TRUE(EngagementParams::getConfHandle()); EXPECT_EQ("/recognition_test/" + engagement::CONF_NAMESPACE, EngagementParams::getConfHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testConfMFGHandle) { EXPECT_TRUE(EngagementParams::getConfMFGazeHandle()); EXPECT_EQ("/recognition_test/" + engagement::CONF_NAMESPACE + "/" + engagement::MUTUAL_FACIAL_GAZE_NAMESPACE, EngagementParams::getConfMFGazeHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testPerformingHandle) { EXPECT_TRUE(EngagementParams::getPerformingHandle()); EXPECT_EQ("/" + engagement::PERFORMING_NAMESPACE, EngagementParams::getPerformingHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testInternalHandle) { EXPECT_TRUE(EngagementParams::getInternalHandle()); EXPECT_EQ("/recognition_test", EngagementParams::getInternalHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testRecogHandle) { EXPECT_TRUE(EngagementParams::getRecogHandle()); EXPECT_EQ("/" + engagement::RECOGNITION_NAMESPACE, EngagementParams::getRecogHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testRecogHumanHandle) { EXPECT_TRUE(EngagementParams::getRecogHumanHandle()); EXPECT_EQ("/" + engagement::RECOGNITION_NAMESPACE + "/" + engagement::HUMAN_NAMESPACE, EngagementParams::getRecogHumanHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testRecogRobotHandle) { EXPECT_TRUE(EngagementParams::getRecogRobotHandle()); EXPECT_EQ("/" + engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE, EngagementParams::getRecogRobotHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testVisionHandle) { EXPECT_TRUE(EngagementParams::getVisionHandle()); EXPECT_EQ("/" + engagement::VISION_NAMESPACE, EngagementParams::getVisionHandle()->getNamespace()); } TEST(EngagementParamsTestSuite, testVerbosity) { // Default value of zero int original = 0; int verbosity = 0; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the verbosity from the param server if (conf) conf->param(engagement::VERBOSITY_PARAM, verbosity, 0); // Force the params to reload the parameters EngagementParams::retrieveParameters(true); original = verbosity; EXPECT_EQ(verbosity, EngagementParams::getVerbosity()); // Set the parameter value to -100 as a test if (conf) { conf->setParam(engagement::VERBOSITY_PARAM, -100); conf->param(engagement::VERBOSITY_PARAM, verbosity, 0); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); EXPECT_EQ(verbosity, EngagementParams::getVerbosity()); // Set the parameter value to 100 as a test if (conf) { conf->setParam(engagement::VERBOSITY_PARAM, 100); conf->param(engagement::VERBOSITY_PARAM, verbosity, 0); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); EXPECT_EQ(verbosity, EngagementParams::getVerbosity()); // Reset the value to its original value if (conf) conf->setParam(engagement::VERBOSITY_PARAM, original); // Force the params to reload the parameters EngagementParams::retrieveParameters(true); EXPECT_EQ(original, EngagementParams::getVerbosity()); } TEST(EngagementParamsTestSuite, testRecogTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Store the parameter names and the prefix name std::string fg_color_param = engagement::RECOG_FG_COLOR_PARAM; std::string bg_color_param = engagement::RECOG_BG_COLOR_PARAM; std::string prefix = "[" + engagement::RECOGNITION_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getRecogTag()); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getRecogTag()); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getRecogTag()); } TEST(EngagementParamsTestSuite, testAPTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Store the parameter names and the prefix name std::string fg_color_param = engagement::ADJACENCY_PAIR_FG_COLOR_PARAM; std::string bg_color_param = engagement::ADJACENCY_PAIR_BG_COLOR_PARAM; std::string prefix = "[ " + engagement::ADJACENCY_PAIR_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfAdjacencyPairHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getAPTag()); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getAPTag()); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getAPTag()); } TEST(EngagementParamsTestSuite, testBCTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Store the parameter names and the prefix name std::string fg_color_param = engagement::BACKCHANNEL_FG_COLOR_PARAM; std::string bg_color_param = engagement::BACKCHANNEL_BG_COLOR_PARAM; std::string prefix = "[ " + engagement::BACKCHANNEL_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfBackchannelHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getBCTag()); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getBCTag()); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getBCTag()); } TEST(EngagementParamsTestSuite, testDGTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Test the red color int obj_fg_color = 31; std::string object = "red-plate"; std::string obj_pref = "[" + object + "]:"; // Store the parameter names and the prefix name std::string fg_color_param = engagement::DIRECTED_GAZE_FG_COLOR_PARAM; std::string bg_color_param = engagement::DIRECTED_GAZE_BG_COLOR_PARAM; std::string prefix = "[ " + engagement::DIRECTED_GAZE_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfDirGazeHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; const char *temp = EngagementParams::getDGTag(object); EXPECT_EQ(result, temp); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Test the red color obj_fg_color = 31; object = "orange-plate"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; temp = EngagementParams::getDGTag(object); EXPECT_EQ(result, temp); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Test the green color obj_fg_color = 32; object = "green"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test the yellow color obj_fg_color = 33; object = "yellow-organ"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test the blue color obj_fg_color = 34; object = "blue-fsad89ag890gasijg"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test the purple color obj_fg_color = 35; object = "purple19120840174"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test the cyan color obj_fg_color = 36; object = "cyangown"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test an invalid color obj_fg_color = 0; object = "speilberg"; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test an no object obj_fg_color = 0; object = ""; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = ""; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); // Test an no object obj_fg_color = 0; object = " "; obj_pref = "[" + object + "]:"; // Create the prefix string obj_result = "\033[" + boost::lexical_cast<std::string>(obj_fg_color) + "m" + obj_pref + "\033[0m "; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m " + obj_result; EXPECT_EQ(result, EngagementParams::getDGTag(object)); } TEST(EngagementParamsTestSuite, testMFGTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Store the parameter names and the prefix name std::string fg_color_param = engagement::MUTUAL_FACIAL_GAZE_FG_COLOR_PARAM; std::string bg_color_param = engagement::MUTUAL_FACIAL_GAZE_BG_COLOR_PARAM; std::string prefix = "[" + engagement::MUTUAL_FACIAL_GAZE_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfMFGazeHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getMFGTag()); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getMFGTag()); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getMFGTag()); } TEST(EngagementParamsTestSuite, testActorTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; std::string actor = "face0"; // Store the parameter names and the prefix name std::string fg_color_param = engagement::ACTOR_FG_COLOR_PARAM; std::string bg_color_param = engagement::ACTOR_BG_COLOR_PARAM; std::string prefix = "[" + actor + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getActorTag(actor)); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); actor = engagement::ROBOT_TYPE; prefix = "[" + actor + "]:"; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getActorTag(actor)); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); actor = "elephant"; prefix = "[" + actor + "]:"; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getActorTag(actor)); actor = ""; prefix = "[" + actor + "]:"; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getActorTag(actor)); } TEST(EngagementParamsTestSuite, testSemaphoreTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; // Store the parameter names and the prefix name std::string fg_color_param = engagement::SEMAPHORE_FG_COLOR_PARAM; std::string bg_color_param = engagement::SEMAPHORE_BG_COLOR_PARAM; std::string prefix = "[" + engagement::SEMAPHORE_TYPE + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getSemaphoreTag()); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getSemaphoreTag()); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getSemaphoreTag()); } TEST(EngagementParamsTestSuite, testStateTag) { // Default value of zero int original_fg = 31; int original_bg = 40; int fg_color = 31; int bg_color = 40; std::string state_name = "dg_start"; // Store the parameter names and the prefix name std::string fg_color_param = engagement::STATE_FG_COLOR_PARAM; std::string bg_color_param = engagement::STATE_BG_COLOR_PARAM; std::string prefix = "[" + state_name + "]:"; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the foreground and background colors from the param server if (conf) { conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); // Store the original values original_fg = fg_color; original_bg = bg_color; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getStateTag(state_name)); // Set the color values to a different value if (conf) { conf->setParam(fg_color_param, 90); conf->setParam(bg_color_param, 90); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); state_name = "AlIgAtOr"; prefix = "[" + state_name + "]:"; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getStateTag(state_name)); // Reset the value to its original value if (conf) { conf->setParam(fg_color_param, original_fg); conf->setParam(bg_color_param, original_bg); conf->param(fg_color_param, fg_color, 31); conf->param(bg_color_param, bg_color, 40); } // Force the params to reload the parameters EngagementParams::retrieveParameters(true); result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getStateTag(state_name)); state_name = ""; prefix = "[" + state_name + "]:"; result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m\033[" + boost::lexical_cast<std::string>(bg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getStateTag(state_name)); } TEST(EngagementParamsTestSuite, testRedObjectTag) { // Test the red color int fg_color = 31; std::string object = "red-plate"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "RED-UMBRELLA"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "rEd-uMbrElLlaaaa"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testOrangeObjectTag) { // Test the orange color int fg_color = 31; std::string object = "orange-bicycle"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "ORANGE-PERSON"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "oRaNGE * ^ % $ #af"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testGreenObjectTag) { // Test the green color int fg_color = 32; std::string object = "green"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "GREEN_THING"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the color object = "GReeN"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testYellowObjectTag) { // Test the yellow color int fg_color = 33; std::string object = "yellow-hair"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "YELLOW-123"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "YElLow-plaTE"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testBlueObjectTag) { // Test the blue color int fg_color = 34; std::string object = "blue-ice-princess"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "BLUE-SKY"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "bLuE plate"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testPurpleObjectTag) { // Test the purple color int fg_color = 35; std::string object = "purple-PANDA"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "PURPLE-PANTHERS"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "pURPle-penciL"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testCyanObjectTag) { // Test the cyan color int fg_color = 36; std::string object = "cyan-iguana-like-object"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "CYAN-ASTRONAUT"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "CyAn-space"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); } TEST(EngagementParamsTestSuite, testUnknownObjectTag) { // Test an unknown color int fg_color = 0; std::string object = "rainbow-colored-dwarf"; std::string prefix = "[" + object + "]:"; // Create the prefix string std::string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "UNKNOWN_COLOR"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); // Test the red color object = "uNkOwN-ObjEct"; prefix = "[" + object + "]:"; // Create the prefix string result = "\033[" + boost::lexical_cast<std::string>(fg_color) + "m" + prefix + "\033[0m "; EXPECT_EQ(result, EngagementParams::getObjectTag(object)); }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011