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122 changes: 122 additions & 0 deletions
122
JvmClient/src/jvmTest/java/uuspaceagent/Test_BasicMoveAndTurnGoals.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,122 @@ | ||
| package uuspaceagent; | ||
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| import eu.iv4xr.framework.mainConcepts.TestAgent; | ||
| import eu.iv4xr.framework.spatial.Vec3; | ||
| import nl.uu.cs.aplib.mainConcepts.GoalStructure; | ||
| import org.junit.jupiter.api.Test; | ||
| //import spaceEngineers.transport.SocketReaderWriterKt; | ||
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| import static org.junit.jupiter.api.Assertions.assertTrue; | ||
| //import static spaceEngineers.transport.SocketReaderWriterKt.closeIfCloseable; | ||
| import static uuspaceagent.PrintInfos.showWOMAgent; | ||
| import static uuspaceagent.TestUtils.console; | ||
| import static uuspaceagent.TestUtils.loadSE; | ||
|
|
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| /** | ||
| * This tests goals to do basic straight-line 2D move and turning. | ||
| */ | ||
| public class Test_BasicMoveAndTurnGoals { | ||
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| public UUSeAgentState test_Goal(GoalStructure G) throws InterruptedException { | ||
| console("*** start test...") ; | ||
| var agentAndState = loadSE("myworld-3") ; | ||
| TestAgent agent = agentAndState.fst ; | ||
| UUSeAgentState state = agentAndState.snd ; | ||
| Thread.sleep(1000); | ||
| state.updateState(state.agentId); | ||
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| // agent start location should be around: <10.119276,-5.0025,55.681934> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
| console(showWOMAgent(state.wom)); | ||
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| agent.setGoal(G) ; | ||
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| int turn= 0 ; | ||
| while(G.getStatus().inProgress()) { | ||
| console(">> [" + turn + "] " + showWOMAgent(state.wom)); | ||
| agent.update(); | ||
| //Thread.sleep(50); | ||
| turn++ ; | ||
| if (turn >= 1400) break ; | ||
| } | ||
| //closeIfCloseable(state.env().getController()); | ||
| TestUtils.closeConnectionToSE(state); | ||
| return state ; | ||
| } | ||
|
|
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| /** | ||
| * Test a simple goal to turn the agent 90 degree to the right. | ||
| */ | ||
| @Test | ||
| public void test_turningRight() throws InterruptedException { | ||
| // agent start location should be around: <10.119276,-5.0025,55.681934> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
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| Vec3 dest = new Vec3(9,-5,55.68f) ; | ||
| var G = UUGoalLib.face2DToward(null,dest) ; | ||
| test_Goal(G) ; | ||
| G.printGoalStructureStatus(); | ||
| assertTrue(G.getStatus().success()); | ||
| } | ||
|
|
||
| /** | ||
| * Test a simple goal to turn the agent 90 degree to the left. | ||
| */ | ||
| @Test | ||
| public void test_turningLeft() throws InterruptedException { | ||
| // agent start location should be around: <9.549925,-5.0025005,54.149185> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
|
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| Vec3 dest = new Vec3(11.5f,-5,54.149f) ; | ||
| var G = UUGoalLib.face2DToward(null,dest) ; | ||
| test_Goal(G) ; | ||
| G.printGoalStructureStatus(); | ||
| assertTrue(G.getStatus().success()); | ||
| } | ||
|
|
||
| /** | ||
| * Test strafing to the right. | ||
| */ | ||
| @Test | ||
| public void test_StrafeRight() throws InterruptedException { | ||
| // agent start location should be around: <10.119276,-5.0025,55.681934> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
|
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| Vec3 dest = new Vec3(8,-5,55.68f) ; | ||
| var G = UUGoalLib.veryclose2DTo(null,dest) ; | ||
| test_Goal(G) ; | ||
| G.printGoalStructureStatus(); | ||
| assertTrue(G.getStatus().success()); | ||
| } | ||
|
|
||
| /** | ||
| * Test strafing to left. | ||
| */ | ||
| @Test | ||
| public void test_StrafeLeft() throws InterruptedException { | ||
| // agent start location should be around: <10.119276,-5.0025,55.681934> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
|
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| Vec3 dest = new Vec3(12,-5,55.68f) ; | ||
| var G = UUGoalLib.veryclose2DTo(null,dest) ; | ||
| test_Goal(G) ; | ||
| G.printGoalStructureStatus(); | ||
| assertTrue(G.getStatus().success()); | ||
| } | ||
|
|
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| /** | ||
| * Test move straight forward, mixed with a bit strafing (the target is diagonal, | ||
| * and we don't turn the agent). | ||
| */ | ||
| @Test | ||
| public void test_Forward() throws InterruptedException { | ||
| // agent start location should be around: <10.119276,-5.0025,55.681934> | ||
| // orientationForward: <-0.043967947,-2.0614608E-4,0.9990329> ... so looking towards z-axis | ||
|
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| Vec3 dest = new Vec3(8,-5,60f) ; | ||
| var G = UUGoalLib.veryclose2DTo(null,dest) ; | ||
| test_Goal(G) ; | ||
| G.printGoalStructureStatus(); | ||
| assertTrue(G.getStatus().success()); | ||
| } | ||
| } |
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