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])
