def test_constant() -> None: scene = Scene("s1") obj = SceneObject("test_name", Test.__name__) scene.objects.append(obj) project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) project.action_points.append(ap1) const_value = 1234 const = ProjectParameter("int_const", "integer", json.dumps(const_value)) project.parameters.append(const) ac1 = Action( "ac1", f"{obj.id}/test_par", flows=[Flow()], parameters=[ ActionParameter("param", ActionParameter.TypeEnum.CONSTANT, json.dumps(const.id)) ], ) ap1.actions.append(ac1) project.logic.append(LogicItem(LogicItem.START, ac1.id)) project.logic.append(LogicItem(ac1.id, LogicItem.END)) src = program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene)) assert f"{const.name} = {const_value}" in src assert f"test_name.{Test.test_par.__name__}({const.name}, an='ac1')" in src
def test_project_unfinished_logic_with_loop(scene: Scene, project: UpdateableCachedProject) -> None: project.upsert_logic_item(LogicItem(ac1.id, ac2.id)) project.upsert_logic_item(LogicItem(ac2.id, ac1.id)) with pytest.raises(Arcor2Exception): check_for_loops(project, ac1.id)
def test_blind_branch() -> None: scene = Scene("s1") obj = SceneObject("test_name", Test.__name__) scene.objects.append(obj) project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) project.action_points.append(ap1) ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])]) ap1.actions.append(ac1) ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac2) ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac3) ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac4) project.logic.append(LogicItem(LogicItem.START, ac1.id)) project.logic.append(LogicItem(ac1.id, ac2.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True)))) project.logic.append(LogicItem(ac1.id, ac3.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False)))) project.logic.append(LogicItem(ac2.id, ac4.id)) project.logic.append(LogicItem(ac4.id, LogicItem.END)) with pytest.raises(SourceException, match=f"Action {ac3.name} has no outputs."): program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene))
def test_project_wo_loop(scene: Scene, project: UpdateableCachedProject) -> None: project.upsert_logic_item(LogicItem(LogicItem.START, ac1.id)) project.upsert_logic_item(LogicItem(ac1.id, ac2.id)) project.upsert_logic_item(LogicItem(ac2.id, ac3.id)) project.upsert_logic_item(LogicItem(ac3.id, ac4.id)) project.upsert_logic_item(LogicItem(ac4.id, LogicItem.END)) check_for_loops(project)
def test_project_wo_loop_branched_logic(scene: Scene, project: UpdateableCachedProject) -> None: project.upsert_logic_item(LogicItem(LogicItem.START, ac1.id)) project.upsert_logic_item(LogicItem(ac1.id, ac2.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True)))) project.upsert_logic_item(LogicItem(ac1.id, ac3.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False)))) project.upsert_logic_item(LogicItem(ac2.id, ac4.id)) project.upsert_logic_item(LogicItem(ac3.id, ac4.id)) project.upsert_logic_item(LogicItem(ac4.id, LogicItem.END)) check_for_loops(project)
def test_prev_result() -> None: scene = Scene("s1") obj = SceneObject("test_name", Test.__name__) scene.objects.append(obj) project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) project.action_points.append(ap1) ac1 = Action("ac1", f"{obj.id}/{Test.get_int.__name__}", flows=[Flow(outputs=["res"])]) ap1.actions.append(ac1) ac2 = Action( "ac2", f"{obj.id}/{Test.test_par.__name__}", flows=[Flow()], parameters=[ ActionParameter("param", ActionParameter.TypeEnum.LINK, json.dumps(f"{ac1.id}/default/0")) ], ) ap1.actions.append(ac2) project.logic.append(LogicItem(LogicItem.START, ac1.id)) project.logic.append(LogicItem(ac1.id, ac2.id)) project.logic.append(LogicItem(ac2.id, LogicItem.END)) src = program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene)) assert f"res = test_name.{Test.get_int.__name__}(an='{ac1.name}')" in src assert f"test_name.{Test.test_par.__name__}(res, an='{ac2.name}')" in src # test wrong order of logic project.logic.clear() project.logic.append(LogicItem(LogicItem.START, ac2.id)) project.logic.append(LogicItem(ac2.id, ac1.id)) project.logic.append(LogicItem(ac1.id, LogicItem.END)) with pytest.raises(SourceException): program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene))
def test_branched_output_2() -> None: scene = Scene("s1") obj = SceneObject("test_name", Test.__name__) scene.objects.append(obj) project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) project.action_points.append(ap1) ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])]) ap1.actions.append(ac1) ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac2) ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac3) ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow(outputs=["bool2_res"])]) ap1.actions.append(ac4) ac5 = Action("ac5", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac5) ac6 = Action("ac6", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac6) project.logic.append(LogicItem(LogicItem.START, ac1.id)) project.logic.append( LogicItem(ac1.id, ac2.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True)))) project.logic.append( LogicItem(ac1.id, ac4.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False)))) project.logic.append(LogicItem(ac2.id, ac3.id)) project.logic.append(LogicItem(ac3.id, ac6.id)) project.logic.append( LogicItem(ac4.id, ac5.id, ProjectLogicIf(f"{ac4.id}/default/0", json.dumps(True)))) project.logic.append(LogicItem(ac5.id, ac6.id)) project.logic.append(LogicItem(ac6.id, LogicItem.END)) project.logic.append( LogicItem(ac4.id, LogicItem.END, ProjectLogicIf(f"{ac4.id}/default/0", json.dumps(False)))) src = program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene)) parse(src) """ bool_res = test_name.test(res.ac1) if (bool_res == False): bool2_res = test_name.test(res.ac4) if (bool2_res == False): continue elif (bool2_res == True): test_name.test(res.ac5) elif (bool_res == True): test_name.test(res.ac2) test_name.test(res.ac3) test_name.test(res.ac6) """ spl = src.splitlines() # it has to be robust against changed order of blocks ac1_idx = subs_index(spl, "bool_res = test_name.test(an='ac1')") if_bool_res_false_idx = subs_index(spl, "if (bool_res == False):") assert if_bool_res_false_idx > ac1_idx assert cntsp(spl[ac1_idx]) == cntsp(spl[if_bool_res_false_idx]) bool2_res_idx = subs_index(spl, "bool2_res = test_name.test(an='ac4')") assert bool2_res_idx > if_bool_res_false_idx assert cntsp(spl[if_bool_res_false_idx]) == cntsp(spl[bool2_res_idx]) - TAB if_bool_2_res_false_idx = subs_index(spl, "if (bool2_res == False):") assert cntsp(spl[if_bool_2_res_false_idx]) == cntsp(spl[bool2_res_idx]) assert if_bool_2_res_false_idx > bool2_res_idx assert "continue" in spl[if_bool_2_res_false_idx + 1] assert cntsp( spl[bool2_res_idx]) == cntsp(spl[if_bool_2_res_false_idx + 1]) - TAB if_bool_2_res_true_idx = subs_index(spl, "if (bool2_res == True):") assert if_bool_2_res_true_idx > bool2_res_idx assert "test_name.test(an='ac5')" in spl[if_bool_2_res_true_idx + 1] assert cntsp(spl[if_bool_2_res_true_idx]) == cntsp( spl[if_bool_2_res_true_idx + 1]) - TAB if_bool_res_true_idx = subs_index(spl, "if (bool_res == True):") assert if_bool_res_true_idx > ac1_idx assert cntsp(spl[ac1_idx]) == cntsp(spl[if_bool_res_true_idx]) assert "test_name.test(an='ac2')" in spl[if_bool_res_true_idx + 1] assert cntsp(spl[if_bool_res_true_idx]) == cntsp( spl[if_bool_res_true_idx + 1]) - TAB assert "test_name.test(an='ac3')" in spl[if_bool_res_true_idx + 2] assert cntsp(spl[if_bool_res_true_idx]) == cntsp( spl[if_bool_res_true_idx + 2]) - TAB ac6_idx = subs_index(spl, "test_name.test(an='ac6')") assert cntsp(spl[ac1_idx]) == cntsp(spl[ac6_idx]) assert ac6_idx > if_bool_2_res_false_idx assert ac6_idx > if_bool_2_res_true_idx
def test_project_unfinished_logic_wo_loop(scene: Scene, project: UpdateableCachedProject) -> None: project.upsert_logic_item(LogicItem(ac1.id, ac2.id)) check_for_loops(project, ac1.id)
def check_logic_item(parent: LogicContainer, logic_item: common.LogicItem) -> None: """Checks if newly added/updated ProjectLogicItem is ok. :param parent: :param logic_item: :return: """ assert glob.SCENE action_ids = parent.action_ids() if logic_item.start == common.LogicItem.START and logic_item.end == common.LogicItem.END: raise Arcor2Exception("This does not make sense.") if logic_item.start != common.LogicItem.START: start_action_id, start_flow = logic_item.parse_start() if start_action_id == logic_item.end: raise Arcor2Exception("Start and end can't be the same.") if start_action_id not in action_ids: raise Arcor2Exception("Logic item has unknown start.") if start_flow != "default": raise Arcor2Exception("Only flow 'default' is supported so far.'") if logic_item.end != common.LogicItem.END: if logic_item.end not in action_ids: raise Arcor2Exception("Logic item has unknown end.") if logic_item.condition is not None: what = logic_item.condition.parse_what() action = parent.action( what.action_id ) # action that produced the result which we depend on here flow = action.flow(what.flow_name) try: flow.outputs[what.output_index] except IndexError: raise Arcor2Exception( f"Flow {flow.type} does not have output with index {what.output_index}." ) action_meta = find_object_action(glob.SCENE, action) try: return_type = action_meta.returns[what.output_index] except IndexError: raise Arcor2Exception( f"Invalid output index {what.output_index} for action {action_meta.name}." ) return_type_plugin = plugin_from_type_name(return_type) if not return_type_plugin.COUNTABLE: raise Arcor2Exception( f"Output of type {return_type} can't be branched.") # TODO for now there is only support for bool if return_type_plugin.type() != bool: raise Arcor2Exception("Unsupported condition type.") # check that condition value is ok, actual value is not interesting # TODO perform this check using plugin import json if not isinstance(json.loads(logic_item.condition.value), bool): raise Arcor2Exception("Invalid condition value.") for existing_item in parent.logic: if existing_item.id == logic_item.id: # item is updated continue if logic_item.start == logic_item.START and existing_item.start == logic_item.START: raise Arcor2Exception("START already defined.") if logic_item.start == existing_item.start: if None in (logic_item.condition, existing_item.condition): raise Arcor2Exception( "Two junctions has the same start action without condition." ) # when there are more logical connections from A to B, their condition values must be different if logic_item.condition == existing_item.condition: raise Arcor2Exception( "Two junctions with the same start should have different conditions." ) if logic_item.end == existing_item.end: if logic_item.start == existing_item.start: raise Arcor2Exception( "Junctions can't have the same start and end.")
def test_branched_output() -> None: scene = Scene("s1") obj = SceneObject("test_name", "Test") scene.objects.append(obj) project = Project("p1", "s1") ap1 = ActionPoint("ap1", Position()) project.action_points.append(ap1) ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])]) ap1.actions.append(ac1) ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac2) ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac3) ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow()]) ap1.actions.append(ac4) project.logic.append(LogicItem(LogicItem.START, ac1.id)) project.logic.append( LogicItem(ac1.id, ac2.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True)))) project.logic.append( LogicItem(ac1.id, ac3.id, ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False)))) project.logic.append(LogicItem(ac2.id, ac4.id)) project.logic.append(LogicItem(ac3.id, ac4.id)) project.logic.append(LogicItem(ac4.id, LogicItem.END)) src = program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene)) parse(src) """ bool_res = test_name.test(res.ac1) if bool_res == False: test_name.test(res.ac3) elif bool_res == True: test_name.test(res.ac2) test_name.test(res.ac4) """ spl = src.splitlines() ac1_idx = subs_index(spl, "bool_res = test_name.test(an='ac1')") if_bool_res_false_idx = subs_index(spl, "if bool_res == False:") assert if_bool_res_false_idx > ac1_idx assert cntsp(spl[if_bool_res_false_idx]) == cntsp(spl[ac1_idx]) assert "test_name.test(an='ac3')" in spl[if_bool_res_false_idx + 1] assert cntsp(spl[if_bool_res_false_idx]) == cntsp( spl[if_bool_res_false_idx + 1]) - TAB if_bool_res_true_idx = subs_index(spl, "if bool_res == True:") assert if_bool_res_true_idx > ac1_idx assert cntsp(spl[if_bool_res_true_idx]) == cntsp(spl[ac1_idx]) assert "test_name.test(an='ac2')" in spl[if_bool_res_true_idx + 1] assert cntsp(spl[if_bool_res_true_idx]) == cntsp( spl[if_bool_res_true_idx + 1]) - TAB ac4_idx = subs_index(spl, "test_name.test(an='ac4')") assert ac4_idx > if_bool_res_false_idx assert ac4_idx > if_bool_res_true_idx assert cntsp(spl[ac4_idx]) == cntsp(spl[ac1_idx])