import json
import io
import unittest
from pycozmo.anim_encoder import AnimClips
class TestClips(unittest.TestCase):
def test_no_clips(self):
data = json.loads("""
{
"clips": []
}
""")
# Load from JSON
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips), 0)
# Save to FB
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
# Load from FB
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips), 0)
# Save to JSON
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestClip(unittest.TestCase):
def test_empty_clip(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips), 1)
self.assertEqual(clips.clips[0].name, "test")
self.assertEqual(len(clips.clips[0].keyframes), 0)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips), 1)
self.assertEqual(clips.clips[0].name, "test")
self.assertEqual(len(clips.clips[0].keyframes), 0)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestHeadAngle(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [
{
"triggerTime_ms": 1,
"durationTime_ms": 2,
"angle_deg": 3,
"angleVariability_deg": 4
}
],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.angle_deg, 3)
self.assertEqual(keyframe.variability_deg, 4)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.angle_deg, 3)
self.assertEqual(keyframe.variability_deg, 4)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestLiftHeight(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [
{
"triggerTime_ms": 1,
"durationTime_ms": 2,
"height_mm": 3,
"heightVariability_mm": 4
}
],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.height_mm, 3)
self.assertEqual(keyframe.variability_mm, 4)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.height_mm, 3)
self.assertEqual(keyframe.variability_mm, 4)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestRecordHeading(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [
{
"triggerTime_ms": 1
}
],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestBodyMotion(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [
{
"triggerTime_ms": 1,
"durationTime_ms": 2,
"radius_mm": "3.0",
"speed": 4
}
],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.radius_mm, 3)
self.assertEqual(keyframe.speed, 4)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.radius_mm, 3)
self.assertEqual(keyframe.speed, 4)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestBackpackLights(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [
{
"triggerTime_ms": 1,
"durationTime_ms": 2,
"Left": [
1.0,
2.0,
3.0,
4.0
],
"Right": [
1.0,
2.0,
3.0,
4.0
],
"Front": [
1.0,
2.0,
3.0,
4.0
],
"Middle": [
1.0,
2.0,
3.0,
4.0
],
"Back": [
1.0,
2.0,
3.0,
4.0
]
}
],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
for led in (keyframe.left, keyframe.front, keyframe.middle, keyframe.back, keyframe.right):
self.assertEqual(led.red, 1)
self.assertEqual(led.green, 2)
self.assertEqual(led.blue, 3)
self.assertEqual(led.ir, 4)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
for led in (keyframe.left, keyframe.front, keyframe.middle, keyframe.back, keyframe.right):
self.assertEqual(led.red, 1)
self.assertEqual(led.green, 2)
self.assertEqual(led.blue, 3)
self.assertEqual(led.ir, 4)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestTurnToRecordedHeading(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": [
{
"triggerTime_ms": 1,
"durationTime_ms": 2,
"offset_deg": 3,
"speed_degPerSec": 4,
"accel_degPerSec2": 5,
"decel_degPerSec2": 6,
"tolerance_deg": 7,
"numHalfRevs": 8,
"useShortestDir": true
}
]
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.offset_deg, 3)
self.assertEqual(keyframe.speed_deg_per_sec, 4)
self.assertEqual(keyframe.accel_deg_per_sec_2, 5)
self.assertEqual(keyframe.decel_deg_per_sec_2, 6)
self.assertEqual(keyframe.tolerance_deg, 7)
self.assertEqual(keyframe.num_half_revs, 8)
self.assertTrue(keyframe.use_shortest_dir)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.duration_ms, 2)
self.assertEqual(keyframe.offset_deg, 3)
self.assertEqual(keyframe.speed_deg_per_sec, 4)
self.assertEqual(keyframe.accel_deg_per_sec_2, 5)
self.assertEqual(keyframe.decel_deg_per_sec_2, 6)
self.assertEqual(keyframe.tolerance_deg, 7)
self.assertEqual(keyframe.num_half_revs, 8)
self.assertTrue(keyframe.use_shortest_dir)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestFaceAnimation(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [
{
"triggerTime_ms": 1,
"animName": "test"
}
],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.anim_name, "test")
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.anim_name, "test")
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestProceduralFace(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [
{
"triggerTime_ms": 1,
"faceAngle": 2.0,
"faceCenterX": 3.0,
"faceCenterY": 4.0,
"faceScaleX": 5.0,
"faceScaleY": 6.0,
"leftEye": [
1.0,
2.0,
3.0,
4.0,
5.0,
6.0,
7.0,
8.0,
9.0,
10.0,
11.0,
12.0,
13.0,
14.0,
15.0,
16.0,
17.0,
18.0,
19.0
],
"rightEye": [
1.0,
2.0,
3.0,
4.0,
5.0,
6.0,
7.0,
8.0,
9.0,
10.0,
11.0,
12.0,
13.0,
14.0,
15.0,
16.0,
17.0,
18.0,
19.0
]
}
],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.angle, 2.0)
self.assertEqual(keyframe.center_x, 3.0)
self.assertEqual(keyframe.center_y, 4.0)
self.assertEqual(keyframe.scale_x, 5.0)
self.assertEqual(keyframe.scale_y, 6.0)
for eye in (keyframe.left_eye, keyframe.right_eye):
for i in range(19):
self.assertEqual(eye[i], float(i + 1))
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.angle, 2.0)
self.assertEqual(keyframe.center_x, 3.0)
self.assertEqual(keyframe.center_y, 4.0)
self.assertEqual(keyframe.scale_x, 5.0)
self.assertEqual(keyframe.scale_y, 6.0)
for eye in (keyframe.left_eye, keyframe.right_eye):
for i in range(19):
self.assertEqual(eye[i], float(i + 1))
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestRobotAudio(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [
{
"triggerTime_ms": 1,
"audioEventId": [
2
],
"volume": 3.0,
"probability": [
4.0
],
"hasAlts": true
}
],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.audio_event_ids[0], 2)
self.assertEqual(keyframe.volume, 3.0)
self.assertEqual(keyframe.probabilities[0], 4.0)
self.assertTrue(keyframe.has_alts)
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.audio_event_ids[0], 2)
self.assertEqual(keyframe.volume, 3.0)
self.assertEqual(keyframe.probabilities[0], 4.0)
self.assertTrue(keyframe.has_alts)
data2 = clips.to_dict()
self.assertEqual(data, data2)
class TestEvent(unittest.TestCase):
def test_single(self):
data = json.loads("""
{
"clips": [
{
"Name": "test",
"keyframes": {
"LiftHeightKeyFrame": [],
"ProceduralFaceKeyFrame": [],
"HeadAngleKeyFrame": [],
"RobotAudioKeyFrame": [],
"BackpackLightsKeyFrame": [],
"FaceAnimationKeyFrame": [],
"EventKeyFrame": [
{
"triggerTime_ms": 1,
"event_id": "test"
}
],
"BodyMotionKeyFrame": [],
"RecordHeadingKeyFrame": [],
"TurnToRecordedHeadingKeyFrame": []
}
}
]
}
""")
clips = AnimClips.from_dict(data)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.event_id, "test")
f = io.BytesIO()
clips.to_fb_stream(f)
f.seek(0, io.SEEK_SET)
clips = clips.from_fb_stream(f)
self.assertEqual(len(clips.clips[0].keyframes), 1)
keyframe = clips.clips[0].keyframes[0]
self.assertEqual(keyframe.trigger_time_ms, 1)
self.assertEqual(keyframe.event_id, "test")
data2 = clips.to_dict()
self.assertEqual(data, data2)
