Regression Tests

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(MOAST-BTH: Made test instructions more explicit)
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==run==
 
==run==
  
Run the run script in the bin directory, a P2AT shows up, hit the enter key, status message is ''All monitored functions OK''
+
In window #1:
 +
<pre>
 +
[moast-bth/moast/bin]$ ./run
 +
</pre>
 +
A P2AT shows up in the map. You should be able to see it with the TreasureHuntSim client.
 +
<pre>
 +
> init veh 1
 +
</pre>
 +
amMob, primSP, and amSP all report initialized. Hit the enter key, status message is ''All monitored functions OK''
  
 
==four right turns==
 
==four right turns==
  
After [[#run|run]], take four 90deg right turns. You should end up facing your original direction more-or-less. Run the ''four_right_turns.exp'' expect script.
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Leave [[#run|run]] running in window #1. In window #2:
 +
<pre>
 +
[moast-bth/moast/bin/regression]$ ./four_right_turns.exp
 +
</pre>
 +
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==
 
==2m square==
  
Go 2 meters to your left, repeat 3 more times. Run the ''2m_square.exp'' expect script. You should end up more-or-less in your original position.
+
Leave [[#run|run]] running in window #1. In window #2:
 
+
<pre>
==2 bots see each other==
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[moast-bth/moast/bin/regression]$ ./2m_square.exp
 
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</pre>
Start the second bot. Turn each bot so that they face each other. Run the ''see_each_other.exp'' expect script. They should show up on each other's maps.
+
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)==
 
==long traversal (vehicle-mode)==
  
Have the human open the garage door. Go backwards 18 meters. Run the ''long_traversal.exp'' expect script. This should put you outside.
+
Leave [[#run|run]] running in window #1. In window #2:
 +
<pre>
 +
[moast-bth/moast/bin/regression]$ ./long_traversal.exp
 +
</pre>
 +
Open the garage door with the client. This should put the robot outside.
  
 
==long traversal (am-mode)==
 
==long traversal (am-mode)==
  
Have the human open the garage door. Go backwards 18 meters. Run the ''long_traversal_am.exp'' expect script. This should put you outside.
+
Leave [[#run|run]] running in window #1. In window #2:
 +
<pre>
 +
[moast-bth/moast/bin/regression]$ ./long_traversal_am.exp
 +
</pre>
 +
Open the garage door with the client. This should put the robot outside.
 +
 
 +
==2 bots see each other==
 +
 
 +
Restart the robot. In window #1:
 +
<pre>
 +
> quit
 +
[moast-bth/moast/bin]$ ./run
 +
</pre>
 +
In window #2:
 +
<pre>
 +
[moast-bth/moast/bin]$ ./runVehicle
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</pre>
 +
Back in window #1:
 +
<pre>
 +
> init veh 2
 +
</pre>
 +
In window #3:
 +
<pre>
 +
[moast-bth/moast/bin/regression]$ ./see_each_other.exp
 +
</pre>
 +
 
 +
Each bot turns so that they face each other. They should show up on each other's maps.
  
 
=TeamTalk=
 
=TeamTalk=

Revision as of 22:21, September 21, 2007

Contents

MOAST-BTH

Test Version
BTH-0.2 trunk
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

Test Version
BTH-0.2 trunk
build script ok ok @19:16, 21 September 2007 (EDT)
forward motion unknown unknown
turning around unknown unknown
location query unknown unknown
direct into obstacle unknown unknown
long distance motion unknown unknown

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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