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_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_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 _publish(project_id: str, package_name: str) -> RespT:
mem_zip = BytesIO()
logger.debug(
f"Generating package {package_name} for project_id: {project_id}.")
types_dict: TypesDict = {}
# restore original environment
sys.path = list(original_sys_path)
sys.modules = dict(original_sys_modules)
with tempfile.TemporaryDirectory() as tmp_dir:
prepare_object_types_dir(tmp_dir, OBJECT_TYPE_MODULE)
with zipfile.ZipFile(mem_zip,
mode="w",
compression=zipfile.ZIP_DEFLATED) as zf:
try:
logger.debug("Getting scene and project.")
project = ps.get_project(project_id)
cached_project = CachedProject(project)
scene = ps.get_scene(project.scene_id)
cached_scene = CachedScene(scene)
if not package_name:
package_name = project.name
data_path = "data"
ot_path = "object_types"
zf.writestr(os.path.join(ot_path, "__init__.py"), "")
zf.writestr(os.path.join(data_path, "project.json"),
project.to_json())
zf.writestr(os.path.join(data_path, "scene.json"),
scene.to_json())
obj_types = set(cached_scene.object_types)
obj_types_with_models: set[str] = set()
if __debug__: # this should uncover potential problems with order in which ObjectTypes are processed
import random
random.shuffle(scene.objects)
for scene_obj in scene.objects:
if scene_obj.type in types_dict:
continue
logger.debug(
f"Getting scene object type {scene_obj.type}.")
obj_type = ps.get_object_type(scene_obj.type)
if obj_type.model and obj_type.id not in obj_types_with_models:
obj_types_with_models.add(obj_type.id)
model = ps.get_model(obj_type.model.id,
obj_type.model.type)
obj_model = ObjectModel(
obj_type.model.type,
**{model.type().value.lower():
model} # type: ignore
)
zf.writestr(
os.path.join(
data_path, "models",
humps.depascalize(obj_type.id) + ".json"),
obj_model.to_json(),
)
zf.writestr(
os.path.join(ot_path, humps.depascalize(obj_type.id)) +
".py", obj_type.source)
# handle inheritance
get_base_from_project_service(types_dict, tmp_dir,
obj_types, obj_type, zf,
ot_path,
parse(obj_type.source))
types_dict[scene_obj.type] = save_and_import_type_def(
obj_type.source, scene_obj.type, Generic, tmp_dir,
OBJECT_TYPE_MODULE)
except Arcor2Exception as e:
logger.exception(
f"Failed to prepare package content. {str(e)}")
raise FlaskException(str(e), error_code=404)
script_path = "script.py"
try:
if project.has_logic:
logger.debug("Generating script from project logic.")
zf.writestr(
script_path,
program_src(types_dict, cached_project, cached_scene,
True))
else:
try:
logger.debug("Getting project sources.")
script = ps.get_project_sources(project.id).script
# check if it is a valid Python code
try:
parse(script)
except SourceException:
logger.exception(
"Failed to parse code of the uploaded script.")
raise FlaskException("Invalid code.",
error_code=501)
zf.writestr(script_path, script)
except ps.ProjectServiceException:
logger.info(
"Script not found on project service, creating one from scratch."
)
# write script without the main loop
zf.writestr(
script_path,
program_src(types_dict, cached_project,
cached_scene, False))
logger.debug("Generating supplementary files.")
logger.debug("action_points.py")
zf.writestr("action_points.py",
global_action_points_class(cached_project))
logger.debug("package.json")
zf.writestr(
"package.json",
PackageMeta(package_name,
datetime.now(tz=timezone.utc)).to_json())
except Arcor2Exception as e:
logger.exception("Failed to generate script.")
raise FlaskException(str(e), error_code=501)
logger.info(
f"Done with {package_name} (scene {scene.name}, project {project.name})."
)
mem_zip.seek(0)
return send_file(mem_zip,
as_attachment=True,
max_age=0,
download_name=f"{package_name}_package.zip")
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_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])
