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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 PKG = "pr2_camera_synchronizer" 00035 import roslib; roslib.load_manifest(PKG) 00036 from pr2_camera_synchronizer.synchronizer_classes import * 00037 import unittest 00038 import pr2_camera_synchronizer.cfg.CameraSynchronizerConfig as Config 00039 00040 DIGITS = 16 00041 00042 def issorted(l): 00043 copy = list(l) 00044 copy.sort() 00045 return copy == l 00046 00047 def interlace(l1, l2): 00048 l = zip(l1, l2) 00049 return list(sum(l, ())) 00050 00051 class TestProjector(unittest.TestCase): 00052 def runCase(self, rate, length, shift, out_repeat_period, out_proj_end, out_alt_end, out_noproj_end, level = lvl_projector): 00053 config = { 00054 param_proj_rate : rate, 00055 "projector_pulse_length" : length, 00056 "projector_pulse_shift" : shift, 00057 "projector_tweak" : 0, 00058 "projector_mode" : Config.CameraSynchronizer_ProjectorOn, 00059 } 00060 proj = Projector() 00061 proj.process_update(config, level) 00062 00063 if level & lvl_projector != 0: 00064 self.assert_(math.fmod(config["projector_rate"], ETHERCAT_INTERVAL)) # Integer multiples of ethercat rate 00065 self.assert_(config["projector_pulse_length"] >= length, "Pulse length %f"%config["projector_pulse_length"]) # Never shorten the pulse length 00066 self.assertEqual(config["projector_pulse_length"], proj.pulse_length) # Pulse lengths are consistent 00067 self.assert_(math.fmod(proj.pulse_length, ETHERCAT_INTERVAL) == 0, "Pulse length %f"%proj.pulse_length) # Integer multiples of ethercat rate 00068 self.assertEqual(len(proj.pulse_ends), 4) # Right number of pulses 00069 self.assertEqual(len(proj.pulse_starts), 4) # Right number of pulses 00070 self.assert_(issorted(interlace(proj.pulse_starts, proj.pulse_ends))) # Starts and stops are in right order 00071 self.assertEqual(4. / proj.repeat_period, config["projector_rate"]) # Base period and repeat period are consistent. 00072 00073 self.assertEqual(out_repeat_period, proj.repeat_period) 00074 self.assertEqual(out_proj_end, proj.proj_end_offset) 00075 self.assertEqual(out_noproj_end, proj.noproj_end_offset) 00076 self.assertAlmostEqual(out_alt_end, proj.alt_end_offset, DIGITS) 00077 00078 return proj, config 00079 00080 def testBasicFunctionality(self): 00081 proj,config = self.runCase(30, 0.002, 0, 0.132, 0.003, 0.036, 0.032) 00082 00083 class TestCamera(unittest.TestCase): 00084 def runCase(self, proj_rate, proj_length, proj_shift, rate, trig_mode, out_period, out_ext_trig, out_imager_period, out_end_offset, level = 1, reset_camera = False): 00085 paramnames = dict((name,name) for name in camera_parameters) 00086 config = { 00087 param_proj_rate : proj_rate, 00088 "projector_pulse_length" : proj_length, 00089 "projector_pulse_shift" : proj_shift, 00090 "projector_tweak" : 0, 00091 "projector_mode" : Config.CameraSynchronizer_ProjectorOn, 00092 param_rate : rate, 00093 param_trig_mode : trig_mode, 00094 "camera_reset" : reset_camera, 00095 } 00096 00097 proj = Projector() 00098 proj.process_update(config, lvl_projector) 00099 camera = Camera("test_cam", proj, 1, **paramnames) 00100 camera.process_update(config, level) 00101 00102 if level & 1 == 0: 00103 self.assert_(math.fmod(camera.period, ETHERCAT_INTERVAL) == 0) # Integer multiples of ethercat rate 00104 self.assertEqual(config[param_rate], 1. / camera.period) # Rate was correctly set in config 00105 00106 self.assert_(out_period > 0, "Period %f"%out_period) # Non-zero period 00107 self.assertAlmostEqual(camera.period, out_period, DIGITS) # Correct camera period 00108 self.assertEqual(camera.ext_trig, out_ext_trig) # Ext trig when expected 00109 self.assert_(out_imager_period > 0, "Imager period %f"%out_imager_period) # Non-zero imager period 00110 self.assertAlmostEqual(camera.imager_period, out_imager_period, DIGITS) # Correct imager period 00111 self.assertAlmostEqual(camera.end_offset, out_end_offset, DIGITS) # Correct end offset 00112 00113 return camera, proj, config 00114 00115 def testBasicAlwaysProj(self): 00116 self.runCase(60, 0.001, 0, 30, Config.CameraSynchronizer_WithProjector, 0.034, True, 0.033, 0.002) # Always proj 00117 def testBasicAlternateProj(self): 00118 self.runCase(60, 0.001, 0, 30, Config.CameraSynchronizer_AlternateProjector, 0.034, True, 0.033, 0.019) # Alternate proj 00119 def testBasicNoProj(self): 00120 self.runCase(60, 0.001, 0, 30, Config.CameraSynchronizer_WithoutProjector, 0.034, True, 0.033, 0.016) # No proj 00121 def testBasicFreeRun(self): 00122 self.runCase(60, 0.001, 0, 30, Config.CameraSynchronizer_InternalTrigger, 1/30.0, False, 1/30.0, -1) # Freerun 00123 00124 if __name__ == '__main__': 00125 import rostest 00126 import rospy 00127 import time 00128 00129 # Not starting a node, so we can't use rospy's time functions. 00130 rospy.get_time = time.time 00131 00132 rostest.rosrun(PKG, 'test_projector', TestProjector) 00133 rostest.rosrun(PKG, 'test_camera', TestCamera) 00134 killAsynchronousUpdaters()