public void DifferentKeyInputsAfterEachOther_BothSent() { var skinColorHandsDetector = new SkinColorHandsDetector(); var keyInputEvaluator = new GeneralDroneKeyInputEvaluator(); var handsInputEvaluator = new DroneControllerHandsInputEvaluator(); this.caduhdApp = new CaduhdApp(null, skinColorHandsDetector, this.tello, keyInputEvaluator, handsInputEvaluator); this.udpClient.Client.ReceiveTimeout = 1000; this.caduhdApp.Input(new KeyInfo(Key.Right, KeyState.Down)); this.caduhdApp.Input(new KeyInfo(Key.Up, KeyState.Down)); int counter = 0; try { string response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); Assert.Equal($"rc {this.tello.Speed} 0 0 0", response); counter++; response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); Assert.Equal($"rc {this.tello.Speed} {this.tello.Speed} 0 0", response); counter++; } catch (SocketException) { } this.tello.Dispose(); Assert.Equal(2, counter); }
public void KeyInputIsSentAfterHandsInput_KeyInputIsNotIgnored() { var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>(); skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true); var left = new NormalizedHand(0.15, 0.2, 0.18); var right = new NormalizedHand(0.85, 0.2, 0.18); var hands = new NormalizedHands(left, right); var handsDetectorResult = new HandsDetectorResult(hands, null); skinColorHandsDetectorMock.Setup(schd => schd.DetectHands(It.IsAny <BgrImage>())) .Returns(handsDetectorResult); var keyInputEvaluator = new GeneralDroneKeyInputEvaluator(); var handsInputEvaluator = new DroneControllerHandsInputEvaluator(); var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18); var neutralRight = new NormalizedHand(0.85, 0.5, 0.18); var neutralHands = new NormalizedHands(neutralLeft, neutralRight); handsInputEvaluator.Tune(neutralHands); this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator); this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black)); this.udpClient.Client.ReceiveTimeout = 1000; string response = string.Empty; bool handsInputIgnored = false; try { response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); Assert.Equal($"rc 0 0 {this.tello.Speed} 0", response); } catch (SocketException) { } this.caduhdApp.Input(new KeyInfo(Key.D, KeyState.Down)); try { response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); } catch (SocketException e) { if (e.SocketErrorCode == SocketError.TimedOut) { handsInputIgnored = true; } } this.tello.Dispose(); Assert.False(handsInputIgnored); Assert.Equal($"rc 0 0 0 {this.tello.Speed}", response); }
public void DifferentHandsInputsAfterEachOther_BothSent() { var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>(); skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true); var firstLeft = new NormalizedHand(0.15, 0.2, 0.18); var firstRight = new NormalizedHand(0.85, 0.2, 0.18); var firstHands = new NormalizedHands(firstLeft, firstRight); var firstHandsDetectorResult = new HandsDetectorResult(firstHands, null); var secondLeft = new NormalizedHand(0.15, 0.8, 0.18); var secondRight = new NormalizedHand(0.85, 0.7, 0.18); var secondHands = new NormalizedHands(secondLeft, secondRight); var secondandsDetectorResult = new HandsDetectorResult(secondHands, null); skinColorHandsDetectorMock.SetupSequence(schd => schd.DetectHands(It.IsAny <BgrImage>())) .Returns(firstHandsDetectorResult) .Returns(secondandsDetectorResult); var keyInputEvaluator = new GeneralDroneKeyInputEvaluator(); var handsInputEvaluator = new DroneControllerHandsInputEvaluator(); var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18); var neutralRight = new NormalizedHand(0.85, 0.5, 0.18); var neutralHands = new NormalizedHands(neutralLeft, neutralRight); handsInputEvaluator.Tune(neutralHands); this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator); this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black)); this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black)); this.udpClient.Client.ReceiveTimeout = 1000; int counter = 0; try { string response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); Assert.Equal($"rc 0 0 {this.tello.Speed} 0", response); counter++; response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); Assert.Equal($"rc 0 0 -{this.tello.Speed} 0", response); counter++; } catch (SocketException) { } this.tello.Dispose(); Assert.Equal(2, counter); }
public void HandsInputAnalyzerTuned_HandsInput_MoveDownwards_HandsInputEvaluated_CorrectMoveCommandSent() { var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>(); skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true); var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18); var neutralRight = new NormalizedHand(0.85, 0.5, 0.18); var neutralHands = new NormalizedHands(neutralLeft, neutralRight); var left = new NormalizedHand(0.15, 0.8, 0.18); var right = new NormalizedHand(0.85, 0.8, 0.18); var hands = new NormalizedHands(left, right); var handsDetectorResult = new HandsDetectorResult(hands, null); skinColorHandsDetectorMock.Setup(schd => schd.DetectHands(It.IsAny <BgrImage>())) .Returns(handsDetectorResult); var keyInputEvaluator = new GeneralDroneKeyInputEvaluator(); var handsInputEvaluator = new DroneControllerHandsInputEvaluator(); handsInputEvaluator.Tune(neutralHands); this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator); string response = string.Empty; this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black)); try { response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); } catch (SocketException) { } // it needs to be disposed of here this.tello.Dispose(); Assert.Equal($"rc 0 0 -{this.tello.Speed} 0", response); }
/// <summary> /// Initializes a new instance of the <see cref="MainViewModel"/> class. /// </summary> public MainViewModel() { var handsAnalyzer = new HandsAnalyzer(); var skiColorHandDetector = new SkinColorHandsDetector(); var drone = new Tello(); var droneControllerKeyInputEvaluator = new TelloKeyInputEvaluator(); var droneControllerHandsInputEvaluator = new DroneControllerHandsInputEvaluator(); this.app = new CaduhdApp(handsAnalyzer, skiColorHandDetector, drone, droneControllerKeyInputEvaluator, droneControllerHandsInputEvaluator); this.app.Bind(this.UserInterfaceConnector); this.webCamera = new WebCamera(320, 180); this.webCamera.NewFrame += this.ProcessWebCameraFrame; this.webCamera.On(); this.keyEventProcessor = new KeyEventProcessor(); }
public void Tello_GeneralDroneKeyInputEvaluator_Compatibility() { var keyInputEvaluator = new GeneralDroneKeyInputEvaluator(); var handsInputEvaluator = new DroneControllerHandsInputEvaluator(); this.caduhdApp = new CaduhdApp(null, null, this.tello, keyInputEvaluator, handsInputEvaluator); string response = string.Empty; this.caduhdApp.Input(new KeyInfo(Key.D0, KeyState.Down)); try { response = this.udpClient.Receive(ref this.anyEndPoint).AsString(); } catch (SocketException) { } // it needs to be disposed of here this.tello.Dispose(); Assert.Equal("command", response); }