def run_test():
import blast_world_test
world = blast_planner.BlastPlannableWorld(blast_world_test.make_test_world("."))
initial_pickup_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloor")
#Grab the bag
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": initial_pickup_point}},
"extra_steps": [("stair4", "grab-object", {"tts-text": "Money Bag"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": ('?', blast_world.BlastParameterPtr('plan_return')), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "SETROBOTHOLDER", {"holder": "stair4.left-arm", "require-preexisting": True,
"object-type": "coffee_money_bag"}),
#Buy the coffee
blast_world.BlastCodeStep(None, "PLAN", {"extra_steps": [("stair4", "buy-coffee", {"shop": "clark_peets_coffee_shop"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
#Return the bag
blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": initial_pickup_point}},
"extra_steps": [("stair4", "give-object", {"tts-text": "Coffee Cup"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL")
], ["stair4",])
world.try_exec()
def test_main():
import blast_world_test
man = BlastManager(["test_actions",], blast_world_test.make_test_world())
prog_id = man.plan_action("stair4", "coffee-run", {"person_location":
blast_world.BlastPt(17.460, 38.323, -2.330,
"clarkcenterfirstfloor"),
"shop": "clark_peets_coffee_shop"}, {})
if prog_id == None:
print "Failed to plan", prog_id
man.stop()
return False
if man.wait_for_program(prog_id) == False:
print "Action execution failed"
man.stop()
return False
man.stop()
a = "0a74cbe0c1cd7804120143ffe687a63bf8baec2f00d11e47583d075b7b3fc0350a5bcf3be0a1e4d6977904"
a = a + "dde7e04531ac7662d74ade2749085a3deb79df8e417fa7d2bd93a92d744e22058b29c0012b2f282516"
if a != man.world.world.get_hex_hash_state():
return False
return True
def test_main():
import blast_world_test
man = BlastManager(["test_actions",], blast_world_test.make_test_world())
prog_id = man.plan_action("stair4", "coffee-run", {"person_location":
blast_world.BlastPt(17.460, 38.323, -2.330,
"clarkcenterfirstfloor"),
"shop": "clark_peets_coffee_shop"}, {})
if prog_id == None:
print "Failed to plan", prog_id
man.stop()
return False
if man.wait_for_program(prog_id) == False:
print "Action execution failed"
man.stop()
return False
man.stop()
a = "0a74cbe0c1cd7804120143ffe687a63bf8baec2f00d11e47583d075b7b3fc0350a5bcf3be0a1e4d6977904"
a = a + "dde7e04531ac7662d74ade2749085a3deb79df8e417fa7d2bd93a92d744e22058b29c0012b2f282516"
if a != man.world.world.get_hex_hash_state():
return False
return True
def five_coffee_run_exec():
import blast_world_test
world = blast_planner.BlastPlannableWorld(blast_world_test.make_test_world("."))
initial_pickup_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloor")
rand_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloordoor")
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": rand_point}}}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "PLAN",
{"extra_steps": [("stair4", "five-coffee-run",
{"shop": "clark_peets_coffee_shop",
"person_location": initial_pickup_point}),],},
"plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL")
], ["stair4",])
world.run(True)
world.print_old()
print "Planned:", world.times_planned
def run(a, w):
global manager, global_feed_alive, edit_types
manager = blast_action.BlastManager(a, w)
manager.on_robot_change = on_robot_change
manager.world.on_program_changed = on_program_change
manager.on_surface_change = on_surface_change
edit_types = manager.world.world.types.copy()
#mthread = ManagerThread()
#mthread.start()
app.run(debug=DEBUG, host='0.0.0.0', threaded=True, use_reloader=False, use_evalex=False)
print "Terminating"
queue_load(None, "terminate", None)
global_feed_alive = False
manager.stop()
#mthread.alive = False
#mthread.join()
if __name__ == '__main__':
if "--test" in sys.argv:
my_path = os.path.dirname(os.path.abspath(__file__))
sys.path.append(my_path + "/../blast_test")
my_path += "/../blast_test"
import blast_world_test
run(["test_actions"], blast_world_test.make_test_world(my_path))
