/** * File: testMoodManager * * Author: Mark Wesley * Created: 10/14/15 * * Description: Unit tests for Mood Manager and Emotions * * Copyright: Anki, Inc. 2015 * * --gtest_filter=MoodManager* **/ // Access protected factory functions for test purposes #define protected public #include "gtest/gtest.h" #include "coretech/common/engine/utils/timer.h" #include "engine/aiComponent/aiComponent.h" #include "engine/aiComponent/behaviorComponent/behaviorContainer.h" #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/delegationComponent.h" #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/behaviorEventComponent.h" #include "engine/aiComponent/behaviorComponent/behaviors/iCozmoBehavior.h" #include "engine/cozmoContext.h" #include "engine/moodSystem/emotionAffector.h" #include "engine/moodSystem/emotionEvent.h" #include "engine/moodSystem/emotionEventMapper.h" #include "engine/moodSystem/emotionScorer.h" #include "engine/moodSystem/moodManager.h" #include "engine/moodSystem/staticMoodData.h" #include "engine/robot.h" #include "engine/robotInterface/messageHandler.h" #include "test/engine/behaviorComponent/testBehaviorFramework.h" #include "util/graphEvaluator/graphEvaluator2d.h" #include "util/logging/logging.h" #include "util/math/math.h" #include using namespace Anki; using namespace Anki::Vector; const double kTickTimestep = 0.01; double gCurrentTime = 0.0; // Fake time for update calls Anki::Util::GraphEvaluator2d kTestDefaultRepetitionPenaltyGraph({{0.0f, 0.0}, {10.0f, 1.0f}}); // no-repetition penalty Anki::Util::GraphEvaluator2d kTestGraphTimeRatio({{0.0f, 1.0f }, {0.5f, 1.0f }, {1.0f, 0.9f }, {1.5f, 0.8f }, {2.0f, 0.5f }, {2.5f, 0.5f }, {3.0f, 0.4f }, {3.5f, 0.0f } }); Anki::Util::GraphEvaluator2d kTestGraphValueSlope({ {-1.0f, 60.0f}, {-0.8f, 6.0f}, {-0.2f, 6.0f}, {0.0f, 0.6f}, {0.93999f, 0.6f}, {0.93999f, 0.0f} }); const EmotionType kTestEmoType0 = EmotionType::Happy; const EmotionType kTestEmoType1 = EmotionType::Confident; const EmotionType kTestEmoType2 = EmotionType::Social; const EmotionType kTestEmoType3 = EmotionType::Stimulated; using DGT = MoodDecayEvaulator::DecayGraphType; // Helper - tick mood manager for N ticks with a given timestep void TickMoodManager(MoodManager& moodManager, uint32_t numTicks, float tickTimeStep) { DependencyManagedEntity dependencies; for (uint32_t i=0; i < numTicks; ++i) { gCurrentTime += tickTimeStep; BaseStationTimer::getInstance()->UpdateTime( Util::SecToNanoSec( gCurrentTime ) ); moodManager.UpdateDependent(dependencies); } } void InitStaticMoodData(const MoodDecayEvaulator::DecayGraphType graphType) { StaticMoodData& staticMoodData = MoodManager::GetStaticMoodData(); switch(graphType) { case DGT::TimeRatio: staticMoodData.SetDecayEvaluator(kTestEmoType0, kTestGraphTimeRatio, DGT::TimeRatio); break; case DGT::ValueSlope: staticMoodData.SetDecayEvaluator(kTestEmoType0, kTestGraphValueSlope, DGT::ValueSlope); break; } staticMoodData.SetDefaultRepetitionPenalty(kTestDefaultRepetitionPenaltyGraph); } TEST(MoodManager, AddEmotionNoPenalty) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test1a", gCurrentTime); moodManager.AddToEmotion(kTestEmoType1, 0.1f, "Test1b", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.5f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.1f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.1f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test2", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 1.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test3", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 1.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, -1.5f, "Test4", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -0.5f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -0.5f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, -1.5f, "Test5", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -1.0f, 0.0f); } TEST(MoodManager, AddEmotionRepeatPenalty) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test1", gCurrentTime); moodManager.AddToEmotion(kTestEmoType1, 0.1f, "Test1b", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.5f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.1f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.1f, 0.0f); // Repeat at t=0 moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test1", gCurrentTime); // 0 second since last Test1 -> only +0 EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.5f); // Repeat at t=5 gCurrentTime += 5.0f; moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test1", gCurrentTime); // 5 second since last Test1 -> only +0.25 EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.75f); // Repeat at t=15 gCurrentTime += 10.0f; moodManager.AddToEmotion(kTestEmoType0, 0.24f, "Test1", gCurrentTime); // 10 second since last Test1 -> full 0.24 EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.99f); } TEST(MoodManager, AddEmotionNoPenaltyEachTick) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 99), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 99), 0.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test1", gCurrentTime); moodManager.AddToEmotion(kTestEmoType1, 0.1f, "Test2", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.5f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.1f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 99), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.1f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 99), 0.1f, 0.0f); TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.5f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.1f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 1), 0.1f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType1, 98), 0.1f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test3", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), 1.0f, 0.0f); TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 99), 1.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, 0.5f, "Test4", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), 1.0f, 0.0f); TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), 0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 3), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 99), 1.0f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, -1.5f, "Test5", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -0.5f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -1.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), -1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 3), -0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), -0.5f, 0.0f); TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -1.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), -1.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 3), -1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 4), -0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 99), -0.5f, 0.0f); moodManager.AddToEmotion(kTestEmoType0, -1.5f, "Test6", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -2.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), -2.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 3), -1.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 4), -1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), -1.0f, 0.0f); TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -1.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), -0.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 2), -2.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 3), -2.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 4), -1.5f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 5), -1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 98), -1.0f, 0.0f); } TEST(MoodManager, DecayFromPositive) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); moodManager.AddToEmotion(kTestEmoType0, 10.0f, "Test1", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); TickMoodManager(moodManager, 10, kTickTimestep); // now = 0.1f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 1.0f, 0.000001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 10), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 9), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 1), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.2f ), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.091f ), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.09f ), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.0f ), 0.0f, 0.0f); TickMoodManager(moodManager, 30, kTickTimestep); // now = 0.4f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 1.0f, 0.000001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 41), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 40), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 39), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.391f ), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.39f ), 0.0f, 0.0f); TickMoodManager(moodManager, 10, kTickTimestep); // now = 0.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 1.0f, 0.000001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 50), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 49), 0.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.491f ), 1.0f, 0.0f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.49f ), 0.0f, 0.0f); TickMoodManager(moodManager, 30, kTickTimestep); // now = 0.8f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.94f, 0.000001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 80), 0.94f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 79), -0.06f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 30), -0.06f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 15), -0.03f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentTicks(kTestEmoType0, 0), 0.00f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.791f ), 0.94f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.79f ), -0.06f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.3f ), -0.06f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.15f ), -0.03f, 0.0001f); EXPECT_NEAR(moodManager.GetEmotionDeltaRecentSeconds(kTestEmoType0, 0.0f ), 0.0f , 0.0001f); TickMoodManager(moodManager, 20, kTickTimestep); // now = 1.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.9f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.85f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.8f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.75f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.65f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.75f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.45f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.4f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.2f, 0.00001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.0f, 0.00001f); // Should remain zero TickMoodManager(moodManager, 25, kTickTimestep); // now = 4.0f EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); } TEST(MoodManager, DecayFromNegative) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); moodManager.AddToEmotion(kTestEmoType0, -10.0f, "Test1", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -1.0f); TickMoodManager(moodManager, 10, kTickTimestep); // now = 0.1f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -1.0f, 0.000001f); TickMoodManager(moodManager, 30, kTickTimestep); // now = 0.4f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -1.0f, 0.000001f); TickMoodManager(moodManager, 10, kTickTimestep); // now = 0.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -1.0f, 0.000001f); TickMoodManager(moodManager, 30, kTickTimestep); // now = 0.8f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.94f, 0.000001f); TickMoodManager(moodManager, 20, kTickTimestep); // now = 1.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.9f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.85f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.8f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 1.75f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.65f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.5f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 2.75f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.45f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.4f, 0.000001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.25f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), -0.2f, 0.00001f); TickMoodManager(moodManager, 25, kTickTimestep); // now = 3.5f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.0f, 0.00001f); // Should remain zero TickMoodManager(moodManager, 25, kTickTimestep); // now = 4.0f EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); } TEST(MoodManager, DecayResetFromAwards) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); moodManager.AddToEmotion(kTestEmoType0, 10.0f, "Test1", gCurrentTime); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 1.0f); TickMoodManager(moodManager, 20, 0.1f); // now = 2.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.5f, 0.000001f); moodManager.AddToEmotion(kTestEmoType0, 0.25f, "Test2", gCurrentTime); EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.75f, 0.000001f); // now = 0.0f (add reset the decay) TickMoodManager(moodManager, 20, 0.1f); // now = 2.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.375f, 0.1f); moodManager.AddToEmotion(kTestEmoType0, -0.25f, "Test3", gCurrentTime); EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.125f, 0.000001f); // now still = 2.0f (subtract doesn't reset the decay) // Note: due to the decrease this is equivalent to a 0.25 initial value dropped to 0.125 after 2 seconds TickMoodManager(moodManager, 10, 0.1f); // now = 3.0f EXPECT_NEAR(moodManager.GetEmotionValue(kTestEmoType0), 0.1f, 0.0001f); } // ================================================================================ // EmotionScorer // ================================================================================ TEST(MoodManager, EmotionScorerRoundTripJson) { EmotionScorer testScorer(kTestEmoType0, Anki::Util::GraphEvaluator2d({{-1.0f, 0.0f}, {0.5f, 1.0f}, {1.0f, 0.6f}}), true); EXPECT_EQ(testScorer.GetEmotionType(), kTestEmoType0); EXPECT_EQ(testScorer.GetScoreGraph().GetNumNodes(), 3); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(0)._x, -1.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(0)._y, 0.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(1)._x, 0.5f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(1)._y, 1.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(2)._x, 1.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(2)._y, 0.6f); EXPECT_EQ(testScorer.TrackDeltaScore(), true); Json::Value testJson; const bool writeRes = testScorer.WriteToJson(testJson); EXPECT_TRUE( writeRes ); EmotionScorer testScorer2(testJson); EXPECT_EQ(testScorer2.GetEmotionType(), kTestEmoType0); EXPECT_EQ(testScorer2.GetScoreGraph().GetNumNodes(), 3); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(0)._x, -1.0f); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(0)._y, 0.0f); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(1)._x, 0.5f); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(1)._y, 1.0f); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(2)._x, 1.0f); EXPECT_EQ(testScorer2.GetScoreGraph().GetNode(2)._y, 0.6f); EXPECT_EQ(testScorer2.TrackDeltaScore(), true); } static const char* kTestEmotionScorerJson = "{" " \"emotionType\" : \"Confident\"," " \"scoreGraph\" : {" " \"nodes\" : [" " {" " \"x\" : -1," " \"y\" : -0.5" " }," " {" " \"x\" : 2.0," " \"y\" : 1.5" " }" " ]" " }," " \"trackDelta\" : true" "}"; TEST(MoodManager, EmotionScorerReadJson) { Json::Value emotionScorerJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionScorerJson, emotionScorerJson, false); ASSERT_TRUE(parsedOK); EmotionScorer testScorer(emotionScorerJson); EXPECT_EQ(testScorer.GetEmotionType(), kTestEmoType1); EXPECT_EQ(testScorer.GetScoreGraph().GetNumNodes(), 2); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(0)._x, -1.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(0)._y, -0.5f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(1)._x, 2.0f); EXPECT_EQ(testScorer.GetScoreGraph().GetNode(1)._y, 1.5f); EXPECT_EQ(testScorer.TrackDeltaScore(), true); } // Missing scoreGraph entry static const char* kBad3TestEmotionScorerJson = "{" " \"emotionType\" : \"Confident\"," " \"trackDelta\" : false" "}"; TEST(MoodManager, EmotionScorerReadBadJson3) { Json::Value emotionScorerJson; Json::Reader reader; const bool parsedOK = reader.parse(kBad3TestEmotionScorerJson, emotionScorerJson, false); ASSERT_TRUE(parsedOK); EmotionScorer testScorer(kTestEmoType2, Anki::Util::GraphEvaluator2d(), false); const bool readRes = testScorer.ReadFromJson(emotionScorerJson); EXPECT_FALSE( readRes ); EXPECT_EQ(testScorer.GetEmotionType(), kTestEmoType1); EXPECT_EQ(testScorer.GetScoreGraph().GetNumNodes(), 0); EXPECT_EQ(testScorer.TrackDeltaScore(), false); } // Missing scoreGraph entry static const char* kBad4TestEmotionScorerJson = "{" " \"emotionType\" : \"Confident\"," " \"scoreGraph\" : {" " \"nodes\" : [" " {" " \"x\" : -1," " \"y\" : -0.5" " }" " ]" " }" "}"; TEST(MoodManager, EmotionScorerReadBadJson4) { Json::Value emotionScorerJson; Json::Reader reader; const bool parsedOK = reader.parse(kBad4TestEmotionScorerJson, emotionScorerJson, false); ASSERT_TRUE(parsedOK); EmotionScorer testScorer(kTestEmoType2, Anki::Util::GraphEvaluator2d(), false); const bool readRes = testScorer.ReadFromJson(emotionScorerJson); EXPECT_FALSE( readRes ); EXPECT_EQ(testScorer.GetEmotionType(), kTestEmoType1); EXPECT_EQ(testScorer.GetScoreGraph().GetNumNodes(), 1); EXPECT_EQ(testScorer.TrackDeltaScore(), false); } // ================================================================================ // EmotionAffector // ================================================================================ TEST(MoodManager, EmotionAffectorRoundTripJson) { EmotionAffector testAffector(kTestEmoType0, 0.75f); Json::Value testJson; const bool writeRes = testAffector.WriteToJson(testJson); EXPECT_TRUE( writeRes ); EmotionAffector testAffector2; const bool readRes = testAffector2.ReadFromJson(testJson); EXPECT_TRUE(readRes); EXPECT_EQ(testAffector2.GetType(), kTestEmoType0); EXPECT_EQ(testAffector2.GetValue(), 0.75f); } // Valid Json static const char* kTestEmotionAffectorJson = "{" " \"emotionType\" : \"Confident\"," " \"value\" : 0.33" "}"; TEST(MoodManager, EmotionAffectorReadJson) { Json::Value emotionAffectorJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionAffectorJson, emotionAffectorJson, false); ASSERT_TRUE(parsedOK); EmotionAffector testAffector; const bool readRes = testAffector.ReadFromJson(emotionAffectorJson); EXPECT_TRUE(readRes); EXPECT_EQ(testAffector.GetType(), kTestEmoType1); EXPECT_EQ(testAffector.GetValue(), 0.33f); } // ================================================================================ // EmotionEvent // ================================================================================ TEST(MoodManager, EmotionEventRoundTripJson) { EmotionEvent testEvent; testEvent.SetName("TestEvent1"); testEvent.AddEmotionAffector(EmotionAffector(kTestEmoType2, 0.11f)); testEvent.AddEmotionAffector(EmotionAffector(kTestEmoType0, 0.22f)); testEvent.AddEmotionAffector(EmotionAffector(kTestEmoType1, 0.33f)); Json::Value testJson; const bool writeRes = testEvent.WriteToJson(testJson); EXPECT_TRUE( writeRes ); EmotionEvent testEvent2; const bool readRes = testEvent2.ReadFromJson(testJson); EXPECT_TRUE(readRes); EXPECT_EQ(testEvent2.GetName(), "TestEvent1"); EXPECT_EQ(testEvent2.GetNumAffectors(), 3); EXPECT_EQ(testEvent2.GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(testEvent2.GetAffector(0).GetValue(), 0.11f); EXPECT_EQ(testEvent2.GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(testEvent2.GetAffector(1).GetValue(), 0.22f); EXPECT_EQ(testEvent2.GetAffector(2).GetType(), kTestEmoType1); EXPECT_EQ(testEvent2.GetAffector(2).GetValue(), 0.33f); } // Valid Json static const char* kTestEmotionEventJson = "{" " \"name\" : \"TestEvent1\"," " \"emotionAffectors\" : [" " {" " \"emotionType\" : \"Social\"," " \"value\" : 0.11" " }," " {" " \"emotionType\" : \"Happy\"," " \"value\" : 0.22" " }," " {" " \"emotionType\" : \"Confident\"," " \"value\" : 0.33" " }" " ]" "}"; TEST(MoodManager, EmotionEventReadJson) { Json::Value emotionEventJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionEventJson, emotionEventJson, false); ASSERT_TRUE(parsedOK); EmotionEvent testEvent; const bool readRes = testEvent.ReadFromJson(emotionEventJson); EXPECT_TRUE(readRes); EXPECT_EQ(testEvent.GetName(), "TestEvent1"); EXPECT_EQ(testEvent.GetNumAffectors(), 3); EXPECT_EQ(testEvent.GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(testEvent.GetAffector(0).GetValue(), 0.11f); EXPECT_EQ(testEvent.GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(testEvent.GetAffector(1).GetValue(), 0.22f); EXPECT_EQ(testEvent.GetAffector(2).GetType(), kTestEmoType1); EXPECT_EQ(testEvent.GetAffector(2).GetValue(), 0.33f); } // ================================================================================ // EmotionEventMapper // ================================================================================ TEST(MoodManager, EmotionEventMapperRoundTripJson) { EmotionEventMapper testEventMapper; { EmotionEvent* newEvent = new EmotionEvent(); newEvent->SetName("TestEvent1b"); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType2, 0.11f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType0, 0.22f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType1, 0.33f)); testEventMapper.AddEvent(newEvent); } { EmotionEvent* newEvent = new EmotionEvent(); newEvent->SetName("TestEvent2b"); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType1, 0.44f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType0, 0.55f)); testEventMapper.AddEvent(newEvent); } { // This event will clobber 1st event added EmotionEvent* newEvent = new EmotionEvent(); newEvent->SetName("TestEvent1b"); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType2, 0.66f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType0, 0.77f)); testEventMapper.AddEvent(newEvent); } Json::Value testJson; const bool writeRes = testEventMapper.WriteToJson(testJson); EXPECT_TRUE( writeRes ); EmotionEventMapper testEventMapper2; const bool readRes = testEventMapper2.ReadFromJson(testJson); EXPECT_TRUE(readRes); { const EmotionEvent* foundEvent2 = testEventMapper2.FindEvent("TestEvent2b"); ASSERT_NE(foundEvent2, nullptr); EXPECT_EQ(foundEvent2->GetNumAffectors(), 2); EXPECT_EQ(foundEvent2->GetAffector(0).GetType(), kTestEmoType1); EXPECT_EQ(foundEvent2->GetAffector(0).GetValue(), 0.44f); EXPECT_EQ(foundEvent2->GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent2->GetAffector(1).GetValue(), 0.55f); const EmotionEvent* foundEvent1 = testEventMapper2.FindEvent("TestEvent1b"); ASSERT_NE(foundEvent1, nullptr); EXPECT_EQ(foundEvent1->GetNumAffectors(), 2); EXPECT_EQ(foundEvent1->GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(foundEvent1->GetAffector(0).GetValue(), 0.66f); EXPECT_EQ(foundEvent1->GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent1->GetAffector(1).GetValue(), 0.77f); } } // Valid Json static const char* kTestEmotionEventMapperJson = "{" " \"emotionEvents\" : [" " {" " \"emotionAffectors\" : [" " {" " \"emotionType\" : \"Happy\"," " \"value\" : 0.11" " }," " {" " \"emotionType\" : \"Confident\"," " \"value\" : 0.22" " }" " ]," " \"name\" : \"TestEvent1c\"" " }," " {" " \"emotionAffectors\" : [" " {" " \"emotionType\" : \"Social\"," " \"value\" : 0.33" " }," " {" " \"emotionType\" : \"Stimulated\"," " \"value\" : 0.44" " }" " ]," " \"name\" : \"TestEvent2c\"" " }" " ]" "}"; // Valid Json static const char* kTestEmotionEventMapperJson2 = "{" " \"emotionEvents\" : [" " {" " \"emotionAffectors\" : [" " {" " \"emotionType\" : \"Happy\"," " \"value\" : 0.55" " }" " ]," " \"name\" : \"TestEvent1c2\"" " }," " {" " \"emotionAffectors\" : [" " {" " \"emotionType\" : \"Social\"," " \"value\" : 0.66" " }" " ]," " \"name\" : \"TestEvent2c2\"" " }" " ]" "}"; TEST(MoodManager, EmotionEventMapperReadJson) { Json::Value emotionEventMapperJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionEventMapperJson, emotionEventMapperJson, false); ASSERT_TRUE(parsedOK); EmotionEventMapper testEventMapper; const bool readRes = testEventMapper.ReadFromJson(emotionEventMapperJson); EXPECT_TRUE(readRes); // Load an additional loose event { Json::Value emotionEventJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionEventJson, emotionEventJson, false); ASSERT_TRUE(parsedOK); const bool readLooseRes = testEventMapper.LoadEmotionEvents(emotionEventJson); EXPECT_TRUE(readLooseRes); } // Load an additional set of loose events { Json::Value emotionEventsJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestEmotionEventMapperJson2, emotionEventsJson, false); ASSERT_TRUE(parsedOK); const bool readLooseRes = testEventMapper.LoadEmotionEvents(emotionEventsJson); EXPECT_TRUE(readLooseRes); } { const EmotionEvent* foundEvent = testEventMapper.FindEvent("TestEvent1c"); ASSERT_NE(foundEvent, nullptr); EXPECT_EQ(foundEvent->GetNumAffectors(), 2); EXPECT_EQ(foundEvent->GetAffector(0).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent->GetAffector(0).GetValue(), 0.11f); EXPECT_EQ(foundEvent->GetAffector(1).GetType(), kTestEmoType1); EXPECT_EQ(foundEvent->GetAffector(1).GetValue(), 0.22f); } { const EmotionEvent* foundEvent = testEventMapper.FindEvent("TestEvent2c"); ASSERT_NE(foundEvent, nullptr); EXPECT_EQ(foundEvent->GetNumAffectors(), 2); EXPECT_EQ(foundEvent->GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(foundEvent->GetAffector(0).GetValue(), 0.33f); EXPECT_EQ(foundEvent->GetAffector(1).GetType(), kTestEmoType3); EXPECT_EQ(foundEvent->GetAffector(1).GetValue(), 0.44f); } { const EmotionEvent* foundEvent = testEventMapper.FindEvent("TestEvent1"); ASSERT_NE(foundEvent, nullptr); EXPECT_EQ(foundEvent->GetNumAffectors(), 3); EXPECT_EQ(foundEvent->GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(foundEvent->GetAffector(0).GetValue(), 0.11f); EXPECT_EQ(foundEvent->GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent->GetAffector(1).GetValue(), 0.22f); EXPECT_EQ(foundEvent->GetAffector(2).GetType(), kTestEmoType1); EXPECT_EQ(foundEvent->GetAffector(2).GetValue(), 0.33f); } { const EmotionEvent* foundEvent = testEventMapper.FindEvent("TestEvent1c2"); ASSERT_NE(foundEvent, nullptr); EXPECT_EQ(foundEvent->GetNumAffectors(), 1); EXPECT_EQ(foundEvent->GetAffector(0).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent->GetAffector(0).GetValue(), 0.55f); } { const EmotionEvent* foundEvent = testEventMapper.FindEvent("TestEvent2c2"); ASSERT_NE(foundEvent, nullptr); EXPECT_EQ(foundEvent->GetNumAffectors(), 1); EXPECT_EQ(foundEvent->GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(foundEvent->GetAffector(0).GetValue(), 0.66f); } } // ================================================================================ // StaticMoodData // ================================================================================ TEST(MoodManager, StaticMoodDataRoundTripJson) { StaticMoodData testStaticData; Anki::Util::GraphEvaluator2d kTestNoDecayGraph({{0.0f, 1.0f}, {1.0f, 1.0f}}); Anki::Util::GraphEvaluator2d kTestLinearGraph({{-1.0f, 1.0f}, {1.0f, 1.0f}}); testStaticData.InitDecayEvaluators(); testStaticData.SetDecayEvaluator(kTestEmoType0, kTestGraphTimeRatio, DGT::TimeRatio); testStaticData.SetDecayEvaluator(kTestEmoType1, kTestNoDecayGraph, DGT::TimeRatio); // leave 2 at default testStaticData.SetDecayEvaluator(kTestEmoType3, kTestLinearGraph, DGT::ValueSlope); testStaticData.SetDefaultRepetitionPenalty(kTestDefaultRepetitionPenaltyGraph); { EmotionEvent* newEvent = new EmotionEvent(); newEvent->SetName("TestEvent1"); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType2, 0.11f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType0, -0.22f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType1, 0.33f)); testStaticData.GetEmotionEventMapper().AddEvent(newEvent); } { EmotionEvent* newEvent = new EmotionEvent(); newEvent->SetName("TestEvent2"); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType1, -0.44f)); newEvent->AddEmotionAffector(EmotionAffector(kTestEmoType0, 0.55f)); testStaticData.GetEmotionEventMapper().AddEvent(newEvent); } auto moodTestHelper = [](const StaticMoodData& smd) { float wasteRate = 0.0f; float wasteAccel = 0.0f; { const auto& eval = smd.GetDecayEvaluator(kTestEmoType0); ASSERT_FALSE(eval.Empty()); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.4f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(0.9f, 1.0f, 0.5f, wasteRate, wasteAccel), 0.8f); } { const auto& eval = smd.GetDecayEvaluator(kTestEmoType1); ASSERT_FALSE(eval.Empty()); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.4f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 100.0f, 0.5f, wasteRate, wasteAccel), 1.0f); } { const auto& eval = smd.GetDecayEvaluator(kTestEmoType2); ASSERT_FALSE(eval.Empty()); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 10.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 15.0f, 45.0f, wasteRate, wasteAccel), 0.9f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(0.9f, 60.0f, 90.0f, wasteRate, wasteAccel), 0.6f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(0.6f, 150.0f, 150.0f, wasteRate, wasteAccel), 0.0f); } { const auto& eval = smd.GetDecayEvaluator(kTestEmoType3); ASSERT_FALSE(eval.Empty()); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.0f, 15.0f, wasteRate, wasteAccel), 0.75); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 1000.0f, 15.0f, wasteRate, wasteAccel), 0.75); } }; moodTestHelper(testStaticData); Json::Value testJson; const bool writeRes = testStaticData.WriteToJson(testJson); EXPECT_TRUE( writeRes ); StaticMoodData testStaticData2; const bool readRes = testStaticData2.ReadFromJson(testJson); EXPECT_TRUE(readRes); moodTestHelper(testStaticData2); { const EmotionEvent* foundEvent1 = testStaticData2.GetEmotionEventMapper().FindEvent("TestEvent1"); ASSERT_NE(foundEvent1, nullptr); EXPECT_EQ(foundEvent1->GetNumAffectors(), 3); EXPECT_EQ(foundEvent1->GetAffector(0).GetType(), kTestEmoType2); EXPECT_EQ(foundEvent1->GetAffector(0).GetValue(), 0.11f); EXPECT_EQ(foundEvent1->GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent1->GetAffector(1).GetValue(), -0.22f); EXPECT_EQ(foundEvent1->GetAffector(2).GetType(), kTestEmoType1); EXPECT_EQ(foundEvent1->GetAffector(2).GetValue(), 0.33f); const EmotionEvent* foundEvent2 = testStaticData2.GetEmotionEventMapper().FindEvent("TestEvent2"); ASSERT_NE(foundEvent2, nullptr); EXPECT_EQ(foundEvent2->GetNumAffectors(), 2); EXPECT_EQ(foundEvent2->GetAffector(0).GetType(), kTestEmoType1); EXPECT_EQ(foundEvent2->GetAffector(0).GetValue(), -0.44f); EXPECT_EQ(foundEvent2->GetAffector(1).GetType(), kTestEmoType0); EXPECT_EQ(foundEvent2->GetAffector(1).GetValue(), 0.55f); } } // Valid Json static const char* kTestStaticMoodDataJson = R"json( { "decayGraphs" : [ { "emotionType" : "default", "graphType": "TimeRatio", "nodes" : [ { "x" : 0, "y" : 1 }, { "x" : 10, "y" : 1 }, { "x" : 30, "y" : 0.9 }, { "x" : 120, "y" : 0 } ] }, { "emotionType": "Social", "graphType": "TimeRatio", "nodes": [ { "x": 0, "y": 1 }, { "x": 2, "y": 1 }, { "x": 12, "y": 0.5 }, { "x": 30, "y": 0 } ] }, { "emotionType": "Stimulated", "graphType": "ValueSlope", "nodes": [ { "x": 0, "y": 0.6 }, { "x": 0.2, "y": 0.06 }, { "x": 0.8, "y": 0.06 }, { "x": 0.8, "y": 1.2 }, { "x": 0.99, "y": 1.2 }, { "x": 0.99, "y": 0.0 } ] } ], "valueRanges": [ { "emotionType": "Stimulated", "min": 0.0, "max": 1.0 } ], "eventMapper" : { "emotionEvents" : [ { "emotionAffectors" : [ { "emotionType" : "Social", "value" : 0.11 }, { "emotionType" : "Happy", "value" : -0.22 }, { "emotionType" : "Confident", "value" : 0.33 } ], "name" : "TestEvent1" }, { "emotionAffectors" : [ { "emotionType" : "Confident", "value" : -0.44 }, { "emotionType" : "Happy", "value" : 0.55 } ], "name" : "TestEvent2" } ] }, "audioParameterMap": { "Happy": "Robot_Vic_Happy", "Confident": "Robot_Vic_Confident", "Social": "Robot_Vic_Social", "Stimulated": "Robot_Vic_Stimulation" }, "defaultRepetitionPenalty" : { "nodes" : [ { "x" : 0.0, "y" : 0.0 }, { "x" : 0.5, "y" : 0.0 }, { "x" : 10.0, "y" : 1.0 } ] }, "actionResultEmotionEvents": { "DRIVE_TO_POSE": { "RETRY": "DrivingActionFailedWithRetry", "ABORT": "DrivingActionFailedWithAbort" }, "PICKUP_OBJECT_LOW": { "SUCCESS": "PickupSucceeded", "RETRY": "PickingOrPlacingActionFailedWithRetry", "ABORT": "PickingOrPlacingActionFailedWithAbort" } } } )json"; TEST(MoodManager, StaticMoodDataReadJson) { Json::Value staticMoodDataJson; Json::Reader reader; const bool parsedOK = reader.parse(kTestStaticMoodDataJson, staticMoodDataJson, false); ASSERT_TRUE(parsedOK); StaticMoodData& testStaticMoodData = MoodManager::GetStaticMoodData(); const bool readRes = testStaticMoodData.ReadFromJson(staticMoodDataJson); EXPECT_TRUE(readRes); static const float kNearTolerance = 0.001f; // only check Social and Stimulated rate and accel values (to hit distinct decay evaluators), and the rest are dummy params float wasteRate = 0.0f; float wasteAccel = 0.0f; auto compare = [](const MoodDecayEvaulator& eval, float currentVal, float timeSinceEvent, float deltaTime_s, float expectedValue, float expectedRate, float expectedAccel) { float rate; float accel; EXPECT_FLOAT_EQ(eval.EvaluateDecay(currentVal, timeSinceEvent, deltaTime_s, rate, accel), expectedValue); EXPECT_FLOAT_EQ(expectedRate, rate); EXPECT_FLOAT_EQ(expectedAccel, accel); }; { const auto& eval = testStaticMoodData.GetDecayEvaluator(EmotionType::Social); ASSERT_FALSE(eval.Empty()); compare(eval, 1.0f, 0.0f, 0.1f, 1.0f , 0.0f, 0.0f); compare(eval, 1.0f, 1.9f, 0.1f, 1.0f , 0.0f, 0.0f); compare(eval, 0.9f, 4.0f, 1.0f, 0.85f, -0.05*1.0f, 0.0f); compare(eval, 1.0f, 30.0f, 0.1f, 0.0f , 0.0f, 0.0f); compare(eval, 0.0f, 30.0f, 0.1f, 0.0f , 0.0f, 0.0f); } { const auto& eval = testStaticMoodData.GetDecayEvaluator(EmotionType::Happy); ASSERT_FALSE(eval.Empty()); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 0.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 9.0f, 0.1f, wasteRate, wasteAccel), 1.0f); EXPECT_NEAR(eval.EvaluateDecay(0.9f, 30.0f, 10.0f, wasteRate, wasteAccel), 0.8f, kNearTolerance); EXPECT_FLOAT_EQ(eval.EvaluateDecay(1.0f, 140.0f, 0.1f, wasteRate, wasteAccel), 0.0f); EXPECT_FLOAT_EQ(eval.EvaluateDecay(0.0f, 30.0f, 0.1f, wasteRate, wasteAccel), 0.0f); } { const auto& eval = testStaticMoodData.GetDecayEvaluator(EmotionType::Stimulated); ASSERT_FALSE(eval.Empty()); compare(eval, 1.0f, 0.0f, 60.0f, 1.0f, 0.0f, 0.0f); compare(eval, 1.0f, 9.0f, 60.0f, 1.0f, 0.0f, 0.0f); compare(eval, 1.0f, 30.0f, 60.0f, 1.0f, 0.0f, 0.0f); compare(eval, 0.9f, 0.0f, 1.0f, 0.88f, -0.02f, 0.0f); compare(eval, 0.5f, 0.0f, 60.0f, 0.44f, -0.001f, 0.0f); compare(eval, 0.0f, 0.0f, 60.0f, 0.0f, -0.01f, 0.0f); } MoodManager moodManager; EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType2), 0.0f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.0f); EXPECT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.0f); moodManager.TriggerEmotionEvent("TestEvent1", 0.0); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType2), 0.11f); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType0), -0.22f); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType1), 0.33f); moodManager.TriggerEmotionEvent("TestEvent2", 0.0); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType2), 0.11f); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType0), 0.33f); EXPECT_FLOAT_EQ(moodManager.GetEmotionValue(kTestEmoType1), -0.11f); } TEST(MoodManager, SimpleMood) { InitStaticMoodData(DGT::TimeRatio); MoodManager moodManager; TickMoodManager(moodManager, 1, kTickTimestep); EXPECT_EQ(moodManager.GetSimpleMood(), SimpleMoodType::LowStim); // contains (stim level, confident level, expected mood) const std::vector> expectations = { {1.0f, 1.0f, SimpleMoodType::HighStim}, {1.0f, 1.0f, SimpleMoodType::HighStim}, {1.0f, 0.5f, SimpleMoodType::HighStim}, {1.0f, 0.0f, SimpleMoodType::HighStim}, {1.0f, -0.1f, SimpleMoodType::HighStim}, {1.0f, -0.5f, SimpleMoodType::Frustrated}, {1.0f, -1.0f, SimpleMoodType::Frustrated}, {0.5f, 1.0f, SimpleMoodType::MedStim}, {0.5f, 1.0f, SimpleMoodType::MedStim}, {0.5f, 0.5f, SimpleMoodType::MedStim}, {0.5f, 0.0f, SimpleMoodType::MedStim}, {0.5f, -0.1f, SimpleMoodType::MedStim}, {0.5f, -0.5f, SimpleMoodType::Frustrated}, {0.5f, -1.0f, SimpleMoodType::Frustrated}, {0.0f, 1.0f, SimpleMoodType::LowStim}, {0.0f, 1.0f, SimpleMoodType::LowStim}, {0.0f, 0.5f, SimpleMoodType::LowStim}, {0.0f, 0.0f, SimpleMoodType::LowStim}, {0.0f, -0.1f, SimpleMoodType::LowStim}, {0.0f, -0.5f, SimpleMoodType::LowStim}, {0.0f, -1.0f, SimpleMoodType::LowStim} }; for( const auto& tpl : expectations ) { moodManager.SetEmotion(EmotionType::Stimulated, std::get<0>(tpl)); moodManager.SetEmotion(EmotionType::Confident, std::get<1>(tpl)); EXPECT_EQ(moodManager.GetSimpleMood(), std::get<2>(tpl)) << "before tick: stim=" << std::get<0>(tpl) << " conf=" << std::get<1>(tpl) << " expcted " << SimpleMoodTypeToString(std::get<2>(tpl)) << " got " <(tpl)) << "after tick: stim=" << std::get<0>(tpl) << " conf=" << std::get<1>(tpl) << " expcted " << SimpleMoodTypeToString(std::get<2>(tpl)) << " got " <