public MapBuilder(MarkerFinder markerFinder,
ObstaclesFinder obstaclesFinder,
ObjectsToTrace objectsToTrace)
{
markerFinder_ = markerFinder;
obstaclesFinder_ = obstaclesFinder;
objectsToTrace_ = objectsToTrace;
}
public MapBuilder(MarkerFinder markerFinder,
ObstaclesFinder obstaclesFinder,
ObjectsToTrace objectsToTrace)
{
markerFinder_ = markerFinder;
obstaclesFinder_ = obstaclesFinder;
objectsToTrace_ = objectsToTrace;
}
public MainWindow()
{
glyphRecogniser = new GlyphRecognitionStudio.MainForm();
glyphRecogniser.frameProcessed += glyphRecogniser_frameProcessed;
glyphRecogniser.Show();
glyphRecogniser.Hide();
carController = new CarController.DefaultCarController();
carControllerWindow = new CarController.MainWindow(carController);
carControllerWindow.Show();
InitializeComponent();
Canvas_trackPlanner.Children.Add(plannerBackGround); //REMOVE IT FROM HERE
MarkerFinder markerFinder = new MarkerFinder();
ObstaclesFinder obstaclesFinder = new ObstaclesFinder();
ObjectsToTrace objectsToTrace = new ObjectsToTrace(new List<string>() { "s1", "s2" }, "car", "parking");
mapBuilder = new MapBuilder(markerFinder, obstaclesFinder, objectsToTrace);
}
public void BuildMapTest()
{
Rhino.Mocks.MockRepository mocksReposiory = new MockRepository();
MarkerFinder markerFinderMock = mocksReposiory.StrictMock<MarkerFinder>();
ObstaclesFinder obstaclesFinderMock = mocksReposiory.StrictMock<ObstaclesFinder>();
System.Drawing.Size image = new System.Drawing.Size(1000, 1000);
string carMarker = "car";
string parkingMarker = "parking";
List<string> stableMarkers = new List<string>(){"s1"};
PositionAndOrientation carPosition = new PositionAndOrientation(5.0f, 4.0f, 90.0f);
PositionAndOrientation parkingPosition = new PositionAndOrientation(1.0f, 1.0f, 1.0f);
List<PositionAndOrientation> stableMarkersPosition =
new List<PositionAndOrientation>() { new PositionAndOrientation(3.0f, 1.0f, 0.0f) };
ObjectsToTrace objectsToTrace = new ObjectsToTrace(stableMarkers, carMarker, parkingMarker);
MapBuilder mapBuilder = new MapBuilder(markerFinderMock, obstaclesFinderMock, objectsToTrace);
using (mocksReposiory.Record())
{
markerFinderMock.Expect(x => x.FindMarker(image, carMarker))
.Return(carPosition);
markerFinderMock.Expect(x => x.FindMarker(image, parkingMarker))
.Return(parkingPosition);
markerFinderMock.Expect(x => x.FindMarker(image, stableMarkers[0]))
.Return(stableMarkersPosition[0]);
}
using (mocksReposiory.Playback())
{
Map map = mapBuilder.BuildMap(image);
Assert.AreEqual(carPosition, map.car);
Assert.AreEqual(parkingPosition, map.parking);
Assert.AreEqual(stableMarkersPosition[0], map.markers[stableMarkers[0]]);
}
}
public void RebuildMapTest()
{
Rhino.Mocks.MockRepository mocksReposiory = new MockRepository();
MarkerFinder markerFinderMock = mocksReposiory.StrictMock<MarkerFinder>();
ObstaclesFinder obstaclesFinderMock = mocksReposiory.StrictMock<ObstaclesFinder>();
const int IMAGE_SIZE_X = 1000;
const int HALF_IMAGE_SIZE_X = IMAGE_SIZE_X / 2;
const int IMAGE_SIZE_Y = 800;
const int HALF_IMAGE_SIZE_Y = IMAGE_SIZE_Y / 2;
System.Drawing.Size image = new System.Drawing.Size(0, 0);
string carMarker = "car";
string parkingMarker = "parking";
List<string> stableMarkers = new List<string>() { "s1" };
PositionAndOrientation carPosition = new PositionAndOrientation(HALF_IMAGE_SIZE_X + 5.0f, HALF_IMAGE_SIZE_Y + 4.0f, 0.0f);
PositionAndOrientation parkingPosition = new PositionAndOrientation(HALF_IMAGE_SIZE_X + 1.0f, HALF_IMAGE_SIZE_Y + 1.0f, 1.0f);
List<PositionAndOrientation> stableMarkersPosition =
new List<PositionAndOrientation>() { new PositionAndOrientation(HALF_IMAGE_SIZE_X + 3.0f, HALF_IMAGE_SIZE_Y + 5.0f, 90.0f) };
ObjectsToTrace objectsToTrace = new ObjectsToTrace(stableMarkers, carMarker, parkingMarker);
MapBuilder mapBuilder = new MapBuilder(markerFinderMock, obstaclesFinderMock, objectsToTrace);
using (mocksReposiory.Record())
{
markerFinderMock.Expect(x => x.FindMarker(image, carMarker))
.Return(carPosition);
markerFinderMock.Expect(x => x.FindMarker(image, parkingMarker))
.Return(parkingPosition);
markerFinderMock.Expect(x => x.FindMarker(image, stableMarkers[0]))
.Return(stableMarkersPosition[0]);
}
Map map;
using (mocksReposiory.Playback())
{
map = mapBuilder.BuildMap(image);
}
PositionAndOrientation newCarPosition = new PositionAndOrientation(HALF_IMAGE_SIZE_X - 4.0f, HALF_IMAGE_SIZE_Y + 5.0f, 90.0f);
List<PositionAndOrientation> newStableMarkersPosition =
new List<PositionAndOrientation>() { new PositionAndOrientation(HALF_IMAGE_SIZE_X - 3.0f, HALF_IMAGE_SIZE_Y + 1.0f, 180.0f) };
System.Drawing.Size newImage = new System.Drawing.Size(0, 0);
using (mocksReposiory.Record())
{
markerFinderMock.Expect(x => x.FindMarker(newImage, carMarker))
.Return(newCarPosition);
markerFinderMock.Expect(x => x.FindMarker(newImage, stableMarkers[0]))
.Return(newStableMarkersPosition[0]);
}
using (mocksReposiory.Playback())
{
mapBuilder.UpdateCarPosition(map, newImage);
double delta = 0.0001f;
Assert.AreEqual(HALF_IMAGE_SIZE_X + 7.0f, map.car.x, delta);
Assert.AreEqual(HALF_IMAGE_SIZE_Y + 6.0f, map.car.y, delta);
Assert.AreEqual(0.0f, map.car.angle, delta);
}
}
