From b48b5b67891f119cfbfa5e21b94dd9d59abadde7 Mon Sep 17 00:00:00 2001
From: Han <hanrh@connect.hku.hk>
Date: Fri, 29 Nov 2024 23:34:46 +0800
Subject: [PATCH] Improve test coverage

---
 irsim/lib/behavior/behavior.py |  6 +++---
 tests/test_all_objects.py      | 30 ++++++++++++++++++++++++++++--
 tests/test_all_objects.yaml    | 16 ++++++++++++++++
 tests/test_keyboard_handle.py  | 25 -------------------------
 4 files changed, 47 insertions(+), 30 deletions(-)
 delete mode 100644 tests/test_keyboard_handle.py

diff --git a/irsim/lib/behavior/behavior.py b/irsim/lib/behavior/behavior.py
index 77c3316..d61892b 100644
--- a/irsim/lib/behavior/behavior.py
+++ b/irsim/lib/behavior/behavior.py
@@ -39,9 +39,9 @@ def gen_vel(self, objects):
             np.array (2, 1): Generated velocity for the agent.
         """
 
-        if self.behavior_dict is None:
-            env_param.logger.error(
-                "Behavior not defined for object {}.".format(self.object_info.id)
+        if self.behavior_dict is None or not self.behavior_dict:
+            env_param.logger.warning(
+                "Behavior not defined for object {}. Robot will be static".format(self.object_info.id)
             )
             return np.zeros((2, 1))
 
diff --git a/tests/test_all_objects.py b/tests/test_all_objects.py
index 47f734a..49f7fbf 100644
--- a/tests/test_all_objects.py
+++ b/tests/test_all_objects.py
@@ -1,5 +1,7 @@
 from irsim.util.util import time_it
+from unittest.mock import Mock
 import irsim
+from pynput import keyboard
 
 @time_it("test_all_objects")
 def test_all_objects():
@@ -19,11 +21,14 @@ def test_all_objects():
     
     env2 = irsim.make('test_all_objects.yaml', display=False)
 
-    env2.robot.get_lidar_points()
+    env2.random_polygon_shape()
+    temp_points = env2.robot.get_lidar_points()
+    env2.draw_points(temp_points)
+
     env2.robot.get_lidar_scan()
     env2.robot.get_lidar_offset()
 
-    for i in range(2):
+    for i in range(10):
         env2.step()
         env2.render(0.01)
     env2.end()
@@ -58,5 +63,26 @@ def test_all_objects():
         env6.render(0.01)
     env6.end()
 
+    env7 = irsim.make('test_keyboard_control.yaml', save_ani=False, display=False)
+    key_list = ['w', 'a', 's', 'd', 'q', 'e', 'z', 'c', 'r']
+
+    mock_key_list = []
+    for c in key_list:
+        mock_key = Mock(spec=keyboard.Key)
+        mock_key.char = c
+        mock_key_list.append(mock_key)
+
+    for i in range(30):
+
+        for mock_key in mock_key_list:
+            env7._on_press(mock_key)
+            env7._on_release(mock_key)
+
+        env7.step()
+        env7.render(0.01)
+
+    env7.end()
+
+
 if __name__ == "__main__":
     test_all_objects()
diff --git a/tests/test_all_objects.yaml b/tests/test_all_objects.yaml
index 96f2c5d..b8acf66 100644
--- a/tests/test_all_objects.yaml
+++ b/tests/test_all_objects.yaml
@@ -22,6 +22,22 @@ robot:
         angle_range: 3.1415926
         number: 100
         noise: False
+        has_velocity: True
+      
+  - kinematics: {name: 'diff', noise: True}  # omni, diff, ackers
+    shape: {name: 'circle', radius: 0.2}  # radius
+    # shape: {name: 'rectangle', length: 0.5, width: 0.2}  # radius
+    state: [1, 1, 0]  
+    goal: [9, 9, 0] 
+    # acce: [3, .inf]   # acce of [linear, angular]  or [v_x, v_y] or [linear, steer]
+    sensors: 
+      - type: 'lidar2d'
+        range_min: 0
+        range_max: 10
+        angle_range: 3.1415926
+        number: 100
+        noise: False
+        has_velocity: True
   
   - kinematics: {name: 'acker'}  # omni, diff, acker
     shape: {name: 'circle', radius: 0.2, wheel_base: 0.2}  # radius
diff --git a/tests/test_keyboard_handle.py b/tests/test_keyboard_handle.py
deleted file mode 100644
index 15b1c1a..0000000
--- a/tests/test_keyboard_handle.py
+++ /dev/null
@@ -1,25 +0,0 @@
-import irsim
-from pynput import keyboard
-from unittest.mock import Mock
-
-env = irsim.make('test_keyboard_control.yaml', save_ani=False, display=False)
-
-key_list = ['w', 'a', 's', 'd', 'q', 'e', 'z', 'c', 'r']
-
-mock_key_list = []
-for c in key_list:
-    mock_key = Mock(spec=keyboard.Key)
-    mock_key.char = c
-    mock_key_list.append(mock_key)
-
-
-for i in range(30):
-
-    for mock_key in mock_key_list:
-        env._on_press(mock_key)
-        env._on_release(mock_key)
-
-    env.step()
-    env.render(0.01)
-
-env.end()
\ No newline at end of file