Regression Tests

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(changed teamtalk to teamtalk sim, major fix in trunk)
(MOAST-BTH)
 
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  ! BTH-0.2 (r739) || trunk
 
  ! BTH-0.2 (r739) || trunk
 
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  | [[High-Fidelity_Simulator#BTH.2FMOAST_Robots|build]] || bgcolor="yellow" | unknown || bgcolor="green" | ok @14:17, 22 September 2007 (EDT)
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  | [[High-Fidelity_Simulator#BTH.2FMOAST_Robots|build]] || bgcolor="green" | ok || bgcolor="green" | ok @14:17, 22 September 2007 (EDT)
 
  |-
 
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  | [[#run|run]] || bgcolor="yellow" | unknown || bgcolor="green" | ok @16:51, 19 September 2007 (EDT)
 
  | [[#run|run]] || bgcolor="yellow" | unknown || bgcolor="green" | ok @16:51, 19 September 2007 (EDT)

Latest revision as of 00:11, October 3, 2007

Contents

[edit] 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)

[edit] 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

[edit] 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.

[edit] 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.

[edit] 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.

[edit] 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.

[edit] 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.

[edit] 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)

[edit] build script

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

[edit] forward motion

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

[edit] turning around

say turn around. Robot turns around.

[edit] location query

say where are you. Gives egocentric bearings.

[edit] direct into obstacle

Give directions into obstacle. Robot reports failure.

[edit] long distance motion

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

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