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| import pytest | |
| from lexia.robot.driver import NullMotionDriver, antenna_array, head_matrix | |
| from lexia.robot.expression import ExpressionLoop | |
| from lexia.robot.motion import Pose | |
| from lexia.robot.state_machine import ReachyStateMachine, RobotState | |
| class BibliotecaSinGrabaciones: | |
| """Aísla el repertorio manual aunque el SDK esté instalado en este PC.""" | |
| def resolve(self, _name): | |
| return None | |
| def bucle(): | |
| estados = ReachyStateMachine() | |
| estados.transition(RobotState.IDLE) | |
| return ExpressionLoop( | |
| estados, NullMotionDriver(), seed=7, library=BibliotecaSinGrabaciones() | |
| ) | |
| def test_cada_fotograma_llega_al_driver(bucle): | |
| bucle.tick(0.0, 0.02) | |
| bucle.tick(0.02, 0.02) | |
| assert bucle.driver.last is not None | |
| def test_el_bucle_sigue_al_estado(bucle): | |
| bucle.states.transition(RobotState.LISTENING) | |
| for paso in range(200): | |
| bucle.tick(paso * 0.02, 0.02) | |
| assert bucle.driver.last.head_pitch > 2.0, "en escucha la barbilla sube" | |
| def test_un_gesto_se_reproduce_una_sola_vez(bucle): | |
| bucle.gesture("asentir") | |
| bucle.tick(0.0, 0.02) | |
| assert len(bucle.driver.gestures) == 3 | |
| bucle.tick(0.02, 0.02) | |
| assert len(bucle.driver.gestures) == 3 | |
| def test_al_cambiar_de_estado_se_lanza_su_gesto(bucle): | |
| bucle.states.transition(RobotState.LISTENING) | |
| bucle.tick(0.0, 0.02) | |
| cantidad = len(bucle.driver.gestures) | |
| assert cantidad, "escuchar debe tener una entrada visible" | |
| bucle.tick(0.02, 0.02) | |
| assert len(bucle.driver.gestures) == cantidad | |
| def test_un_gesto_inexistente_falla_pronto(bucle): | |
| with pytest.raises(KeyError): | |
| bucle.gesture("bailar") | |
| def test_la_matriz_de_cabeza_es_una_pose_valida(): | |
| matriz = head_matrix(Pose(head_yaw=30.0, head_z_mm=10.0)) | |
| assert matriz.shape == (4, 4) | |
| assert matriz[3, 3] == pytest.approx(1.0) | |
| assert matriz[2, 3] == pytest.approx(0.01) | |
| rotacion = matriz[:3, :3] | |
| assert abs(float(rotacion.T.dot(rotacion).trace()) - 3.0) < 1e-6 | |
| def test_las_antenas_van_en_radianes(): | |
| valores = antenna_array(Pose(antenna_left=45.0, antenna_right=-45.0)) | |
| assert valores[0] == pytest.approx(0.7853981, abs=1e-5) | |
| assert valores[1] == pytest.approx(-0.7853981, abs=1e-5) | |