@Test
public void fuzzyNOT() {
RosRunner gate = runNode("org.hanns.logic.fuzzy.gates.impl.NOT");
RosRunner rr = runNode("org.hanns.logic.fuzzy.gates.SisoFuzzyGateTester");
NodeMain node = rr.getNode();
SisoFuzzyGateTester mt = null;
if (node instanceof SisoFuzzyGateTester) {
mt = (SisoFuzzyGateTester) node;
} else {
fail(
"Launched node SisoFuzzyGateTester, but found this one!: "
+ node.getClass().getCanonicalName());
}
assertTrue(gate.isRunning());
assertTrue(rr.isRunning());
ArrayList<Float> receivedData = new ArrayList<Float>();
ArrayList<Float> sentData = new ArrayList<Float>(50);
appendRandomFloatData(sentData, 30, -1);
appendRandomFloatData(sentData, 10, 5);
appendRandomFloatData(sentData, 5, 100);
for (int i = 0; i < sentData.size(); i++) {
receivedData.add(mt.computeRemotely(sentData.get(i)));
}
assertEquals(sentData.size(), receivedData.size());
FuzzyLogic l = new FuzzyLogic(2);
for (int i = 0; i < sentData.size(); i++) {
System.out.println(
"checking no."
+ i
+ " of: "
+ sentData.size()
+ " => operation("
+ sentData.get(i)
+ " == "
+ receivedData.get(i));
assertTrue(receivedData.get(i) == l.compute(sentData.get(i), 0));
}
// after switching these two lines, core throws warning "no publisher for topic.."
rr.stop();
gate.stop();
assertFalse(gate.isRunning());
assertFalse(rr.isRunning());
}
/**
* check if all results are consistent with the chosen logical operation
*
* @param l
* @param sentData
* @param receivedData
*/
private void testOperations(
FuzzyLogic l, ArrayList<Float[]> sentData, ArrayList<Float> receivedData) {
for (int i = 0; i < sentData.size(); i++) {
System.out.println(
"checking no."
+ i
+ " of: "
+ sentData.size()
+ " => operation("
+ sentData.get(i)[0]
+ ","
+ sentData.get(i)[1]
+ ") == "
+ receivedData.get(i));
assertTrue(receivedData.get(i) == l.compute(sentData.get(i)[0], sentData.get(i)[1]));
}
}