66 lines
3.4 KiB
Python
66 lines
3.4 KiB
Python
"""DR semantic regression tests independent of ROS transport."""
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import copy
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import json
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import math
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import sys
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import tempfile
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import unittest
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[1]
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sys.path[:0] = [str(ROOT), str(ROOT / 'coordinator'), str(ROOT / 'robobrain')]
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class DrSemanticsTests(unittest.TestCase):
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def test_localization_adapter_preserves_all_dr_context_fields(self):
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sys.path.insert(0,str(ROOT/'ros2/robobrain_services'))
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from robobrain_services.nodes import perception_goal
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from types import SimpleNamespace as S
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goal=S(task_id='t',subtask_id='s',target_ref='water',target_description='bottle',
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shelf_id='shelf_A',column_id='2',tier_id='3',station_binding_ref='binding-9',
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expected_geometry_epoch=7,capture_after=S(sec=1,nanosec=5),timeout=S(sec=2,nanosec=0))
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result=perception_goal(goal,'localize')
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for key in ('shelf_id','column_id','tier_id','station_binding_ref','expected_geometry_epoch'):
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self.assertEqual(result[key],getattr(goal,key))
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def test_semantic_navigation_accepts_positive_subsecond_budget(self):
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from navigation_gateway.semantic_proxy import duration_seconds
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from types import SimpleNamespace
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self.assertAlmostEqual(duration_seconds(SimpleNamespace(sec=0,nanosec=500000000)),.5)
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for sec,nanosec in [(0,0),(-1,1),(3600,1),(1,1000000000),(1,-1)]:
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with self.assertRaises(ValueError):duration_seconds(SimpleNamespace(sec=sec,nanosec=nanosec))
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def test_shelf_tier_can_be_empty_without_guessing(self):
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# BT p15 and RB02 allow an unknown tier; execution must decide whether
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# its chosen route can use the observation without that calibration.
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from robot_robobrain.service import BrainService
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from robot_robobrain.backends import FixtureBackend
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from robot_robobrain.observations import Observation
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with tempfile.TemporaryDirectory() as folder:
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image = Path(folder) / 'frame.jpg'; image.write_bytes(b'fixture')
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raw = dict(status='SUCCEEDED', shelf_id='shelf_A', side_id='FRONT',
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column_id='1', tier_id='', confidence=.95)
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service = BrainService(FixtureBackend(json.dumps(raw)), folder)
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observation = Observation('obs', 100, 'camera', str(image), 'observe_A', 1, 'shelf_A')
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goal = dict(task_id='t', subtask_id='s', target_ref='water', source_region_ref='shelf_A',
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observation_station_id='observe_A', station_registry_version=1, capture_after=90, timeout=1)
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result = service.shelf(goal, observation, 110, max_age_ns=50)
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self.assertEqual(result['status'], 'SUCCEEDED')
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self.assertEqual(result['tier_id'], '')
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def test_navigation_reports_signed_shortest_yaw_error(self):
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from navigation_gateway.gateway import pose_errors
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from test_navigation_gateway import request
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target = request()['target_pose']
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current = copy.deepcopy(target)
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current['orientation'].update(z=math.sin(.2/2), w=math.cos(.2/2))
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distance, yaw = pose_errors(target, current)
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self.assertEqual(distance, 0)
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self.assertAlmostEqual(yaw, -.2)
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current['orientation'].update(z=math.sin(-.2/2), w=math.cos(-.2/2))
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self.assertAlmostEqual(pose_errors(target, current)[1], .2)
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if __name__ == '__main__':
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unittest.main()
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