def visitParallel(self, ctx: xDroneParser.ParallelContext) -> None:
parallel_commands = ParallelDroneCommands()
for commands in ctx.commands():
self.commands.append([])
# scope - discard updates on existing variables, discard new variables
new_symbol_table = copy.deepcopy(self._get_latest_symbol_table())
self.symbol_table.append(new_symbol_table)
self.returned.append(False)
self.returned_value.append(None)
self.visit(commands)
returned_value = self.returned_value.pop(-1)
self.returned.pop(-1)
self.symbol_table.pop(-1)
if returned_value is not None:
raise CompileError(
"Parallel branch should not return anything, but {} is returned"
.format(returned_value))
branch = self.commands.pop(-1)
try:
parallel_commands.add(branch)
except RepeatDroneNameException as e:
raise CompileError(
"Parallel branches should have exclusive drone names, "
"but {} appeared in more than one branches".format(
e.repeated_names))
self._get_latest_commands().append(parallel_commands)
def test_add_already_involved_drones_should_give_error(self):
parallel_commands = ParallelDroneCommands()
parallel_commands.add(
[SingleDroneCommand("DRONE1", Command.takeoff())])
with self.assertRaises(RepeatDroneNameException) as context:
parallel_commands.add(
[SingleDroneCommand("DRONE1", Command.takeoff())])
self.assertTrue({"DRONE1"}, context.exception.repeated_names)
def test_repr(self):
parallel_commands = ParallelDroneCommands()
parallel_commands.add([])
parallel_commands.add([SingleDroneCommand("abc", Command.takeoff())])
self.assertEqual(
"ParallelDroneCommands: { [], " +
"[SingleDroneCommand: { drone_name: abc, " +
"command: Command: { opcode: takeoff, operands: [] } }] }",
repr(parallel_commands))
def test_add(self):
parallel_commands = ParallelDroneCommands()
parallel_commands.add([])
self.assertEqual([[]], parallel_commands.branches)
self.assertEqual([set()],
parallel_commands.drones_involved_each_branch)
parallel_commands.add([SingleDroneCommand("abc", Command.takeoff())])
self.assertEqual([[], [SingleDroneCommand("abc", Command.takeoff())]],
parallel_commands.branches)
self.assertEqual([set(), {"abc"}],
parallel_commands.drones_involved_each_branch)
def test_eq(self):
parallel_commands1 = ParallelDroneCommands()
parallel_commands1.add([])
parallel_commands1.add([SingleDroneCommand("abc", Command.takeoff())])
parallel_commands2 = ParallelDroneCommands(
[[], [SingleDroneCommand("abc", Command.takeoff())]])
parallel_commands3 = ParallelDroneCommands(
[[SingleDroneCommand("abc", Command.takeoff())], []])
self.assertEqual(ParallelDroneCommands(), ParallelDroneCommands())
self.assertEqual(parallel_commands1, parallel_commands2)
self.assertNotEqual(parallel_commands1, parallel_commands3)
self.assertNotEqual(None, parallel_commands1)
def test_to_command_str(self):
parallel_commands = ParallelDroneCommands()
parallel_commands.add([])
parallel_commands.add([
SingleDroneCommand("abc", Command.takeoff()),
SingleDroneCommand("abc", Command.up(1))
])
self.assertEqual("{ } || { abc.takeoff(); abc.up(1); };",
parallel_commands.to_command_str())
outer_parallel_commands = ParallelDroneCommands()
outer_parallel_commands.add([])
outer_parallel_commands.add([parallel_commands])
self.assertEqual("{ } || { { } || { abc.takeoff(); abc.up(1); }; };",
outer_parallel_commands.to_command_str())