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_get_value(self, val: str) -> None:
scene = Scene("s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, StringPlugin.type_name(),
StringPlugin.value_to_json(val)),
ActionParameter(invalid_param_name, StringPlugin.type_name(),
json.dumps(666)),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
StringPlugin.parameter_value({}, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
invalid_param_name)
value = StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
param_name)
exe_value = StringPlugin.parameter_execution_value({}, cscene,
cproject, ac1.id,
param_name)
assert value == val
assert value == exe_value
def test_get_value() -> None:
scene = Scene("s1", "s1")
obj = SceneObject("test_name", TestObject.__name__)
prj = ProjectRobotJoints("name", obj.id, [Joint("name", 0.333)])
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
ap1.robot_joints.append(prj)
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
act = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, JointsPlugin.type_name(), json.dumps(prj.id)),
ActionParameter(invalid_param_name, JointsPlugin.type_name(), json.dumps("non_sense")),
],
)
ap1.actions.append(act)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id, "non_sense")
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, "non_sense", param_name)
with pytest.raises(ParameterPluginException):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id, invalid_param_name)
value = JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id, param_name)
exe_value = JointsPlugin.parameter_execution_value(type_defs, cscene, cproject, act.id, param_name)
assert value == value
assert value == exe_value
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_project_ap_rpcs(start_processes: None, ars: ARServer) -> None:
upload_def(Box, BoxModel(Box.__name__, 1, 2, 3))
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.s.NewScene.Request(get_id(), rpc.s.NewScene.Request.Args("Test scene")), rpc.s.NewScene.Response
).result
assert len(event(ars, events.o.ChangedObjectTypes).data) == 1
scene_data = event(ars, events.s.OpenScene).data
assert scene_data
scene = scene_data.scene
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(get_id(), rpc.s.AddObjectToScene.Request.Args("box", Box.__name__, Pose())),
rpc.s.AddObjectToScene.Response,
).result
obj = event(ars, events.s.SceneObjectChanged).data
assert obj
# ------------------------------------------------------------------------------------------------------------------
assert ars.call_rpc(
rpc.p.NewProject.Request(get_id(), rpc.p.NewProject.Request.Args(scene.id, "Project name")),
rpc.p.NewProject.Response,
).result
event(ars, events.s.SceneSaved)
event(ars, events.p.OpenProject)
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(get_id(), rpc.p.AddActionPoint.Request.Args("parent_ap", Position())),
rpc.p.AddActionPoint.Response,
).result
parent_ap_evt = event(ars, events.p.ActionPointChanged)
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
get_id(), rpc.p.AddActionPoint.Request.Args("child_ap", Position(-1), parent_ap_evt.data.id)
),
rpc.p.AddActionPoint.Response,
).result
child_ap_evt = event(ars, events.p.ActionPointChanged)
assert child_ap_evt.data.parent == parent_ap_evt.data.id
lock_object(ars, child_ap_evt.data.id)
assert ars.call_rpc(
rpc.p.AddActionPointOrientation.Request(
get_id(), rpc.p.AddActionPointOrientation.Request.Args(child_ap_evt.data.id, Orientation())
),
rpc.p.AddActionPointOrientation.Response,
).result
ori = event(ars, events.p.OrientationChanged)
assert ars.call_rpc(
rpc.p.AddAction.Request(
get_id(),
rpc.p.AddAction.Request.Args(
child_ap_evt.data.id,
"act_name",
f"{obj.id}/{Box.update_pose.__name__}",
[ActionParameter("new_pose", PosePlugin.type_name(), json.dumps(ori.data.id))],
[Flow()],
),
),
rpc.p.AddAction.Response,
).result
event(ars, events.p.ActionChanged)
unlock_object(ars, child_ap_evt.data.id)
ars.event_mapping[ActionChanged.__name__] = ActionChanged
assert ars.call_rpc(
rpc.p.CopyActionPoint.Request(get_id(), rpc.p.CopyActionPoint.Request.Args(parent_ap_evt.data.id)),
rpc.p.CopyActionPoint.Response,
).result
new_parent_ap = event(ars, events.p.ActionPointChanged)
assert not new_parent_ap.data.parent
new_child_ap = event(ars, events.p.ActionPointChanged)
assert new_child_ap.data.parent == new_parent_ap.data.id
new_ori = event(ars, events.p.OrientationChanged)
assert new_ori.parent_id == new_child_ap.data.id
# with events.p.ActionChanged it would return only BareAction (without parameters)
new_action = event(ars, ActionChanged)
ars.event_mapping[ActionChanged.__name__] = events.p.ActionChanged
assert new_action.parent_id == new_child_ap.data.id
# Pose parameter (orientation id) should be updated now
assert len(new_action.data.parameters) == 1
assert json.loads(new_action.data.parameters[0].value) == new_ori.data.id