Regression Tests

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MOAST-BTH

Test Version
BTH-0.2 (r739) trunk
build ok ok @14:17, 22 September 2007 (EDT)
run unknown ok @16:51, 19 September 2007 (EDT)
four right turns unknown turns work, am is notified but doesn't set state to RCS_DONE @16:48, 20 September 2007 (EDT)
2m square unknown ok @16:51, 19 September 2007 (EDT)
2 bots see each other unknown ok @10:45, 20 September 2007 (EDT)
long traversal (vehicle-mode) unknown fail @10:45, 20 September 2007 (EDT)
long traversal (am-mode) unknown ok @15:35, 21 September 2007 (EDT)

run

In window #1:

[moast-bth/moast/bin]$ ./run

A P2AT shows up in the map. You should be able to see it with the TreasureHuntSim client.

> init veh 1

amMob, primSP, and amSP all report initialized. Hit the enter key, status message is All monitored functions OK

four right turns

Leave run running in window #1. In window #2:

[moast-bth/moast/bin/regression]$ ./four_right_turns.exp

In the client you will see the bot making four right turns. After every turn you should get a status of RCS_DONE. You should end up facing your original direction more-or-less.

2m square

Leave run running in window #1. In window #2:

[moast-bth/moast/bin/regression]$ ./2m_square.exp

The robot will go 2 meters to its left, repeating 3 more times. It should end up more-or-less in its original position.

long traversal (vehicle-mode)

Leave run running in window #1. In window #2:

[moast-bth/moast/bin/regression]$ ./long_traversal.exp

Open the garage door with the client. This should put the robot outside.

long traversal (am-mode)

Leave run running in window #1. In window #2:

[moast-bth/moast/bin/regression]$ ./long_traversal_am.exp

Open the garage door with the client. This should put the robot outside.

2 bots see each other

Restart the robot. In window #1:

> quit
[moast-bth/moast/bin]$ ./run

In window #2:

[moast-bth/moast/bin]$ ./runVehicle

Back in window #1:

> init veh 2

In window #3:

[moast-bth/moast/bin/regression]$ ./see_each_other.exp

Each bot turns so that they face each other. They should show up on each other's maps.

TeamTalk Sim

Test Version
BTH-0.2 (r739) trunk
build script ok ok @19:16, 21 September 2007 (EDT)
forward motion unknown ok @01:12, 24 September 2007 (EDT)
turning around unknown ok @01:12, 24 September 2007 (EDT)
location query unknown works, but home is interpreted as the map origin. Should probably be the starting location instead. @16:26, 22 September 2007 (EDT)
direct into obstacle unknown ok @01:12, 24 September 2007 (EDT)
long distance motion unknown ok @01:12, 24 September 2007 (EDT)

build script

Run TeamTalkRebuild.bat. Builds TeamTalk Agents, Pendecoder, and bootstraps LM without errors.

forward motion

say go forward two meters. Goes forward 2 meters and acknowledges the end of action.

turning around

say turn around. Robot turns around.

location query

say where are you. Gives egocentric bearings.

direct into obstacle

Give directions into obstacle. Robot reports failure.

long distance motion

say go forward twelve meters. Goes forward 12 meters and acknowledges the end of action.

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