public void TearDown()
{
EventTestingUtilities.DisconnectWebots();
EventQueue.Nao.Clear();
EventQueue.Goal.Clear();
EventQueue.Nao.ClearSubscribers();
}
public void FireTest()
{
EventTestingUtilities.RequireWebots();
EventQueue.Nao.Post(haltEvent);
// check not moving
Assert.IsFalse(Walk.Instance.IsMoving());
}
public void Init()
{
Logger.Clear();
inputStream = EventTestingUtilities.BuildStream(ExpectedID);
goalComs.SetStream(inputStream);
pickupEvent = new PickupEvent();
}
public void FireTest()
{
EventTestingUtilities.RequireWebots();
EventQueue.Nao.Post(goToEvent);
EventQueue.Nao.WaitFor();
System.Threading.Thread.Sleep(500);
Assert.IsTrue(Walk.Instance.IsMoving());
}
public void AbortTest()
{
EventTestingUtilities.RequireWebots();
Walk.Instance.StartWalking(1, 1, 0);
EventQueue.Nao.Suspended = true;
EventQueue.Nao.Post(haltEvent);
haltEvent.Abort();
EventQueue.Nao.Suspended = false;
System.Threading.Thread.Sleep(500);
Assert.IsTrue(Walk.Instance.IsMoving());
}
public void UnpackTest()
{
CommunicationStream stream = EventTestingUtilities.BuildStream(
1, 15, 15
);
goalComs.SetStream(stream);
goToEvent = new GoToEvent();
List <Point> nodes = (List <Point>)EventTestingUtilities.GetInstanceField(typeof(GoToEvent), goToEvent, "locations");
Assert.AreEqual(new Point(1, 1), nodes[0]);
}
public void InternalErrorTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Throws(new Exception());
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(pickupEvent);
pickupEvent.WaitFor();
Assert.IsInstanceOf <ErrorEvent>(EventQueue.Goal.Peek(),
"An internal error has been encountered, expecting an ErrorEvent.");
}
public void ObjectAbsentTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(false);
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(putdownEvent);
putdownEvent.WaitFor();
Assert.IsInstanceOf <FailureEvent>(EventQueue.Goal.Peek(),
"The Nao was not holding an object, therefore there is nothing to put down.");
}
public void AbortObjectHeldTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(true);
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.EventFiring += (naoEvent => naoEvent.Abort());
EventQueue.Nao.Post(putdownEvent);
putdownEvent.WaitFor();
Assert.IsInstanceOf <FailureEvent>(EventQueue.Goal.Peek(),
"The event was aborted before the Nao could drop the object.");
}
public void InternalErrorTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Throws(new Exception());
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(putdownEvent);
putdownEvent.WaitFor();
Assert.IsInstanceOf <ErrorEvent>(EventQueue.Goal.Peek(),
"There is a serious internal error in Grabber.HoldingObject.");
}
public void ObjectAlreadyHeldTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(true);
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(pickupEvent);
pickupEvent.WaitFor();
Assert.IsInstanceOf <FailureEvent>(EventQueue.Goal.Peek(),
"The Nao is already holding an object, therefore cannot pick up a new one.");
}
public void ValidFireObjectNotHeldTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(false);
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(pickupEvent);
pickupEvent.WaitFor();
Assert.IsInstanceOf <FailureEvent>(EventQueue.Goal.Peek(),
"The event was executed but the Nao is not holding anything.");
}
public void InvalidFireObjectDroppedTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(false);
mock.Setup(m => m.PutDown()).Throws(new Exception());
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(putdownEvent);
putdownEvent.WaitFor();
Assert.IsInstanceOf <SuccessEvent>(EventQueue.Goal.Peek(),
@"The Nao caught an exception while trying to put the object down,
but it still dropped the object. Therefore, expect success.");
}
public void InvalidFireObjectHeldTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
mock.Setup(m => m.HoldingObject()).Returns(true);
mock.Setup(m => m.PutDown()).Throws(new Exception());
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(putdownEvent);
putdownEvent.WaitFor();
Assert.IsInstanceOf <FailureEvent>(EventQueue.Goal.Peek(),
@"The Nao caught an exception while trying to put the object down,
and still holds it at the end.");
}
public void ValidFireObjectHeldTest()
{
EventTestingUtilities.RequireWebots();
Mock <Grabber> mock = new Mock <Grabber>()
{
CallBase = true
};
int callCounter = 0;
mock.Setup(m => m.HoldingObject())
.Returns(() => callCounter > 0)
.Callback(() => callCounter++);
Grabber.Instance = mock.Object;
EventQueue.Goal.Suspended = true;;
EventQueue.Nao.Post(pickupEvent);
pickupEvent.WaitFor();
Assert.IsInstanceOf <SuccessEvent>(EventQueue.Goal.Peek(),
"The event was successfully executed.");
}
public void TearDown()
{
goalComs.SetStream(emptyStream);
EventTestingUtilities.DisconnectWebots();
}
public void initOnce()
{
emptyStream = EventTestingUtilities.BuildStream();
goalComs = new GoalComsStub(emptyStream);
}
public void TearDown()
{
EventTestingUtilities.DisconnectWebots();
}
