lsp_test_blobfinder.cc

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#include "lsp_test_blobfinder.hh"

using namespace lspTest;

void Blobfinder::setUp() {
        connect();
        blobProxy = playerc_blobfinder_create( client, 0 );
        CPPUNIT_ASSERT( playerc_blobfinder_subscribe( blobProxy, PLAYER_OPEN_MODE ) == 0 );
}


void Blobfinder::tearDown() {
        CPPUNIT_ASSERT( playerc_blobfinder_unsubscribe( blobProxy ) == 0 );
        playerc_blobfinder_destroy( blobProxy );
        disconnect();
}

void Blobfinder::testData() {
        playerc_client_read( client );
        
        // verify that we're getting new data
        blobProxy->info.fresh = 0;
        playerc_client_read( client );
        CPPUNIT_ASSERT_MESSAGE( "blobfinder updating", blobProxy->info.fresh == 1 );
        
        CPPUNIT_ASSERT( blobProxy->info.datatime > 0 );

        //printf("\ncolor0: 0x%X, color1: 0x%X\n", blobProxy->blobs[0].color, blobProxy->blobs[1].color);
        
        // check stage defaults
        CPPUNIT_ASSERT( blobProxy->width == 80 );
        CPPUNIT_ASSERT( blobProxy->height == 60 );
        
        // Make sure we see three blobs: wall, robot, wall
        CPPUNIT_ASSERT_EQUAL_MESSAGE( "blobs_count", (unsigned int)3, blobProxy->blobs_count ); // lsp_test.world
        // sanity checks
        CPPUNIT_ASSERT( blobProxy->blobs[1].range > 0 );
        CPPUNIT_ASSERT( blobProxy->blobs[1].area > 0 );
        CPPUNIT_ASSERT( blobProxy->blobs[1].y > 0 );
        CPPUNIT_ASSERT( blobProxy->blobs[1].left < blobProxy->blobs[1].right );
        CPPUNIT_ASSERT( blobProxy->blobs[1].top < blobProxy->blobs[1].bottom );
        
        // robot should be red
        CPPUNIT_ASSERT( blobProxy->blobs[1].color == 0xFFFF0000 );
        
        // robot should be closer
        CPPUNIT_ASSERT( blobProxy->blobs[0].range > blobProxy->blobs[1].range );
        
        // robot should be towards the right
        uint32_t robotCenter = blobProxy->blobs[1].x;
        uint32_t imageCenter = blobProxy->width / 2;
        //printf(" robotCenter: %d, imageCenter: %d\n", robotCenter, imageCenter);
        CPPUNIT_ASSERT( robotCenter > imageCenter );
        
        
        
//      CPPUNIT_ASSERT_EQUAL_MESSAGE( "id", (unsigned int)2, blobProxy->blobs[0].id );

}