def test_object_parameters(start_processes: None, ars: ARServer, scene: Scene) -> None:
assert ars.call_rpc(rpc.s.OpenScene.Request(uid(), IdArgs(scene.id)), rpc.s.OpenScene.Response).result
event(ars, events.s.OpenScene)
event(ars, events.s.SceneState)
req_params = [ # TODO create settings_to_params and use it
Parameter("str_param", "string", json.dumps("str_param")),
Parameter("float_param", "double", json.dumps(1.0)),
Parameter("int_param", "integer", json.dumps(1)),
Parameter("bool_param", "boolean", json.dumps(True)),
]
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
uid(), rpc.s.AddObjectToScene.Request.Args("ows", ObjectWithSettings.__name__, parameters=req_params)
),
rpc.s.AddObjectToScene.Response,
).result
soc = event(ars, events.s.SceneObjectChanged)
assert soc.change_type
assert soc.change_type == soc.change_type.ADD
assert soc.data.type == ObjectWithSettings.__name__
assert soc.data.parameters == req_params
obj_id = soc.data.id
req_params2 = [ # TODO create settings_to_params and use it
Parameter("str_param", "string", json.dumps("str_param2")),
Parameter("float_param", "double", json.dumps(2.0)),
Parameter("int_param", "integer", json.dumps(2)),
Parameter("bool_param", "boolean", json.dumps(True)),
]
lock_object(ars, soc.data.id)
assert ars.call_rpc(
rpc.s.UpdateObjectParameters.Request(
uid(), rpc.s.UpdateObjectParameters.Request.Args(soc.data.id, parameters=req_params2)
),
rpc.s.AddObjectToScene.Response,
).result
soc2 = event(ars, events.s.SceneObjectChanged)
assert soc2.change_type == soc.change_type.UPDATE
assert soc2.data.type == ObjectWithSettings.__name__
assert soc2.data.parameters == req_params2
unlock_object(ars, soc.data.id)
# let's continue with testing overrides
assert ars.call_rpc(
rpc.p.NewProject.Request(uid(), rpc.p.NewProject.Request.Args(scene.id, "Project name")),
rpc.p.NewProject.Response,
).result
event(ars, events.p.OpenProject)
event(ars, events.s.SceneState)
assert not ars.call_rpc(
rpc.o.DeleteOverride.Request(
uid(), rpc.o.DeleteOverride.Request.Args(obj_id, Parameter("bool_param", "boolean", json.dumps(True)))
),
rpc.o.DeleteOverride.Response,
).result
assert not ars.call_rpc(
rpc.o.UpdateOverride.Request(
uid(), rpc.o.UpdateOverride.Request.Args(obj_id, Parameter("bool_param", "boolean", json.dumps(True)))
),
rpc.o.UpdateOverride.Response,
).result
# int_param has to be set to special value, so without override, StartScene should fail now
assert ars.call_rpc(
rpc.s.StartScene.Request(uid()),
rpc.s.StartScene.Response,
).result
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Starting
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Stopping
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Stopped
lock_object(ars, obj_id)
override = Parameter("int_param", "integer", json.dumps(ObjectWithSettings.INT_PARAM_SPECIAL_VALUE))
assert ars.call_rpc(
rpc.o.AddOverride.Request(uid(), rpc.o.AddOverride.Request.Args(obj_id, override)),
rpc.o.AddOverride.Response,
).result
override_evt = event(ars, events.o.OverrideUpdated)
assert override_evt.data == override
assert override_evt.change_type
assert override_evt.change_type == override_evt.change_type.ADD
assert override_evt.parent_id == obj_id
override2 = Parameter("str_param", "string", json.dumps("test"))
assert ars.call_rpc(
rpc.o.AddOverride.Request(uid(), rpc.o.AddOverride.Request.Args(obj_id, override2)),
rpc.o.AddOverride.Response,
).result
event(ars, events.o.OverrideUpdated)
unlock_object(ars, obj_id)
save_project(ars)
# now it should be possible to start the scene
assert ars.call_rpc(
rpc.s.StartScene.Request(uid()),
rpc.s.StartScene.Response,
).result
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Starting
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Started
def test_update_object_pose(start_processes: None, ars: ARServer) -> None:
upload_def(Box, BoxModel("Box", 0.1, 0.1, 0.1))
upload_def(DummyMultiArmRobot)
test = "test"
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.s.NewScene.Request(get_id(), rpc.s.NewScene.Request.Args(test)),
rpc.s.NewScene.Response).result
assert len(event(ars, events.o.ChangedObjectTypes).data) == 2
event(ars, events.s.OpenScene)
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
get_id(),
rpc.s.AddObjectToScene.Request.Args("obj", Box.__name__, Pose())),
rpc.s.AddObjectToScene.Response,
).result
scene_obj = event(ars, events.s.SceneObjectChanged).data
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
get_id(),
rpc.s.AddObjectToScene.Request.Args("robot",
DummyMultiArmRobot.__name__,
Pose())),
rpc.s.AddObjectToScene.Response,
).result
scene_robot = event(ars, events.s.SceneObjectChanged).data
new_pose = Pose(Position(1))
lock_object(ars, scene_obj.id)
assert ars.call_rpc(
rpc.s.UpdateObjectPose.Request(
get_id(),
rpc.s.UpdateObjectPose.Request.Args(scene_obj.id, new_pose)),
rpc.s.UpdateObjectPose.Response,
).result
assert event(ars, events.s.SceneObjectChanged).data.pose == new_pose
unlock_object(ars, scene_obj.id)
lock_object(ars, scene_robot.id)
assert ars.call_rpc(
rpc.s.UpdateObjectPose.Request(
get_id(),
rpc.s.UpdateObjectPose.Request.Args(scene_robot.id, new_pose)),
rpc.s.UpdateObjectPose.Response,
).result
assert event(ars, events.s.SceneObjectChanged).data.pose == new_pose
unlock_object(ars, scene_robot.id)
assert ars.call_rpc(
rpc.s.StartScene.Request(get_id()),
rpc.s.StartScene.Response,
).result
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Starting
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Started
lock_object(ars, scene_obj.id)
# with started scene, it should still be possible to manipulate the object
assert ars.call_rpc(
rpc.s.UpdateObjectPose.Request(
get_id(),
rpc.s.UpdateObjectPose.Request.Args(scene_obj.id, Pose())),
rpc.s.UpdateObjectPose.Response,
).result
assert event(ars, events.s.SceneObjectChanged).data.pose == Pose()
unlock_object(ars, scene_obj.id)
lock_object(ars, scene_robot.id)
# ...but it should not be possible to manipulate the robot
assert not ars.call_rpc(
rpc.s.UpdateObjectPose.Request(
get_id(),
rpc.s.UpdateObjectPose.Request.Args(scene_robot.id, Pose())),
rpc.s.UpdateObjectPose.Response,
).result
unlock_object(ars, scene_robot.id)
def test_lock_events(start_processes: None, ars: ARServer, scene: cmn.Scene, project: cmn.Project) -> None:
assert ars.call_rpc(rpc.p.OpenProject.Request(get_id(), IdArgs(project.id)), rpc.p.OpenProject.Response).result
prj_evt = event(ars, events.p.OpenProject)
event(ars, events.s.SceneState)
prj = prj_evt.data.project
# get default project objects
ap = next(ap for ap in prj.action_points if ap.name == "ap")
ap_ap = next(ap for ap in prj.action_points if ap.name == "ap_ap")
ap_ap_ap = next(ap for ap in prj.action_points if ap.name == "ap_ap_ap")
ori = ap_ap_ap.orientations[0]
lock_object(ars, ap.id, True)
# lock object and expect event about it on newly logged UI
ars2 = ARServer(ars_connection_str(), timeout=30, event_mapping=event_mapping)
event(ars2, events.p.OpenProject)
event(ars2, events.s.SceneState)
second_ui = "ars2"
assert ars2.call_rpc(
rpc.u.RegisterUser.Request(get_id(), rpc.u.RegisterUser.Request.Args(second_ui)),
rpc.u.RegisterUser.Response,
).result
locked_evt = event(ars2, events.lk.ObjectsLocked)
assert locked_evt.data.owner == "testUser"
for obj_id in (ap.id, ap_ap.id, ap_ap_ap.id, ori.id):
assert obj_id in locked_evt.data.object_ids
# attempt to lock/unlock objects locked by someone else
for obj_id in (ap.id, ap_ap.id, ap_ap_ap.id, ori.id):
# lock
assert not ars2.call_rpc(
rpc.lock.WriteLock.Request(get_id(), rpc.lock.WriteLock.Request.Args(obj_id)), rpc.lock.WriteLock.Response
).result
# lock tree
assert not ars2.call_rpc(
rpc.lock.WriteLock.Request(get_id(), rpc.lock.WriteLock.Request.Args(obj_id, True)),
rpc.lock.WriteLock.Response,
).result
# unlock
assert not ars2.call_rpc(
rpc.lock.WriteUnlock.Request(get_id(), rpc.lock.WriteUnlock.Request.Args(obj_id)),
rpc.lock.WriteUnlock.Response,
).result
unlock_object(ars, ap.id)
event(ars2, events.lk.ObjectsUnlocked)
# test lock will stay locked after logout for a while
lock_object(ars2, ori.id)
event(ars, events.lk.ObjectsLocked)
ars2.close()
# wait for some time
sleep(2) # TODO fill this sleep with another actions
# register again and check if objects still locked
ars2 = ARServer(ars_connection_str(), timeout=30, event_mapping=event_mapping)
event(ars2, events.p.OpenProject)
event(ars2, events.s.SceneState)
assert ars2.call_rpc(
rpc.u.RegisterUser.Request(get_id(), rpc.u.RegisterUser.Request.Args("ars2")),
rpc.u.RegisterUser.Response,
).result
locked_evt = event(ars2, events.lk.ObjectsLocked)
assert locked_evt.data.owner == second_ui
assert len(locked_evt.data.object_ids) == 1
assert ori.id in locked_evt.data.object_ids
ars2.close()
def test_object_parameters(start_processes: None, ars: ARServer,
scene: Scene) -> None:
assert ars.call_rpc(rpc.s.OpenScene.Request(get_id(), IdArgs(scene.id)),
rpc.s.OpenScene.Response).result
event(ars, events.s.OpenScene)
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
get_id(),
rpc.s.AddObjectToScene.Request.Args("ows",
ObjectWithActions.__name__)),
rpc.s.AddObjectToScene.Response,
).result
obj = event(ars, events.s.SceneObjectChanged).data
assert obj is not None
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("ap", Position())),
rpc.p.AddActionPoint.Response,
).result
ap = event(ars, events.p.ActionPointChanged).data
assert ap is not None
assert ars.call_rpc(
rpc.p.AddAction.Request(
get_id(),
rpc.p.AddAction.Request.Args(
ap.id,
"a1",
f"{obj.id}/{ObjectWithActions.bool_action.__name__}",
[],
[Flow(outputs=["bool_result"])],
),
),
rpc.p.AddAction.Response,
).result
a1 = event(ars, events.p.ActionChanged).data
assert a1 is not None
assert ars.call_rpc(
rpc.p.AddAction.Request(
get_id(),
rpc.p.AddAction.Request.Args(
ap.id,
"a2",
f"{obj.id}/{ObjectWithActions.str_action.__name__}",
[],
[Flow()],
),
),
rpc.p.AddAction.Response,
).result
a2 = event(ars, events.p.ActionChanged).data
assert a2 is not None
add_logic_item(ars, LogicItem.START, a1.id)
event(ars, events.lk.ObjectsUnlocked)
lock_object(ars, a1.id)
add_logic_item(
ars, a1.id, a2.id,
ProjectLogicIf(f"{a1.id}/{FlowTypes.DEFAULT}/{0}", json.dumps(True)))
event(ars, events.lk.ObjectsUnlocked)
lock_object(ars, a2.id)
add_logic_item(ars, a2.id, LogicItem.END)
event(ars, events.lk.ObjectsUnlocked)
lock_object(ars, a1.id)
add_logic_item(
ars, a1.id, LogicItem.END,
ProjectLogicIf(f"{a1.id}/{FlowTypes.DEFAULT}/{0}", json.dumps(False)))
event(ars, events.lk.ObjectsUnlocked)
# TODO try to add some invalid connections here?
save_project(ars)
def test_project_const(start_processes: None, ars: ARServer) -> None:
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.s.NewScene.Request(uid(),
rpc.s.NewScene.Request.Args("Test scene")),
rpc.s.NewScene.Response).result
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(
uid(),
rpc.s.AddObjectToScene.Request.Args("random_actions",
RandomActions.__name__)),
rpc.s.AddObjectToScene.Response,
).result
obj = event(ars, events.s.SceneObjectChanged).data
assert obj
# ------------------------------------------------------------------------------------------------------------------
assert ars.call_rpc(
rpc.p.NewProject.Request(
uid(), rpc.p.NewProject.Request.Args(scene.id, "Project name")),
rpc.p.NewProject.Response,
).result
proj = event(ars, events.p.OpenProject).data
assert proj
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.p.AddConstant.Request(
uid(),
rpc.p.AddConstant.Request.Args("min_time", "double",
json.dumps(0.45))),
rpc.p.AddConstant.Response,
).result
c1 = event(ars, events.p.ProjectConstantChanged).data
assert c1
assert not ars.call_rpc(
rpc.p.AddConstant.Request(
uid(),
rpc.p.AddConstant.Request.Args("min_time", "double",
json.dumps(0.62))),
rpc.p.AddConstant.Response,
).result
assert not ars.call_rpc( # attempt to update without lock
rpc.p.UpdateConstant.Request(
uid(),
rpc.p.UpdateConstant.Request.Args(c1.id, name="min_time_updated")),
rpc.p.UpdateConstant.Response,
).result
# ------------------------------------------------------------------------------------------------------------------
# the user opens a menu and then closes it without actually changing anything
lock_object(ars, c1.id)
assert ars.call_rpc(
rpc.p.UpdateConstant.Request(uid(),
rpc.p.UpdateConstant.Request.Args(
c1.id, name="min_time_1"),
dry_run=True),
rpc.p.UpdateConstant.Response,
).result
assert ars.call_rpc(
rpc.p.UpdateConstant.Request(uid(),
rpc.p.UpdateConstant.Request.Args(
c1.id, name="min_time_2"),
dry_run=True),
rpc.p.UpdateConstant.Response,
).result
unlock_object(ars, c1.id)
# ------------------------------------------------------------------------------------------------------------------
lock_object(ars, c1.id)
assert ars.call_rpc(
rpc.p.UpdateConstant.Request(
uid(),
rpc.p.UpdateConstant.Request.Args(c1.id, name="min_time_updated")),
rpc.p.UpdateConstant.Response,
).result
c1u = event(ars, events.p.ProjectConstantChanged).data
assert c1u
event(ars, events.lk.ObjectsUnlocked)
assert c1u.id == c1.id
assert c1.name != c1u.name
assert c1.type == c1u.type
# ------------------------------------------------------------------------------------------------------------------
# try to add and remove
assert ars.call_rpc(
rpc.p.AddConstant.Request(
uid(),
rpc.p.AddConstant.Request.Args("min_time_2", "double",
json.dumps(0.62))),
rpc.p.AddConstant.Response,
).result
c2 = event(ars, events.p.ProjectConstantChanged).data
assert c2
assert ars.call_rpc(
rpc.p.RemoveConstant.Request(uid(),
rpc.p.RemoveConstant.Request.Args(c2.id)),
rpc.p.RemoveConstant.Response,
).result
c2e = event(ars, events.p.ProjectConstantChanged)
assert c2e.data
assert c2e.data.id == c2.id
assert c2e.change_type == c2e.Type.REMOVE
# ------------------------------------------------------------------------------------------------------------------
# attempt to add a constant with duplicate name
assert not ars.call_rpc(
rpc.p.AddConstant.Request(
uid(),
rpc.p.AddConstant.Request.Args(c1u.name, "double",
json.dumps(0.62))),
rpc.p.AddConstant.Response,
).result
# ------------------------------------------------------------------------------------------------------------------
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
uid(), rpc.p.AddActionPoint.Request.Args("ap1",
common.Position())),
rpc.p.AddActionPoint.Response,
).result
ap = event(ars, events.p.ActionPointChanged).data
assert ap is not None
assert ars.call_rpc(
rpc.p.AddAction.Request(
uid(),
rpc.p.AddAction.Request.Args(
ap.id,
"test_action",
f"{obj.id}/{RandomActions.random_double.__name__}",
[
common.ActionParameter(
"range_min", common.ActionParameter.TypeEnum.CONSTANT,
json.dumps(c1.id)),
common.ActionParameter("range_max", "double", "0.55"),
],
[common.Flow(outputs=["random_value"])],
),
),
rpc.p.AddAction.Response,
).result
action = event(ars, events.p.ActionChanged).data
assert action
assert not ars.call_rpc(
rpc.p.RemoveConstant.Request(uid(),
rpc.p.RemoveConstant.Request.Args(c1.id)),
rpc.p.RemoveConstant.Response).result
# ------------------------------------------------------------------------------------------------------------------
# try to execute action using constant parameter
assert ars.call_rpc((rpc.s.StartScene.Request(uid())),
rpc.s.StartScene.Response).result
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Starting
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Started
assert ars.call_rpc(
rpc.p.ExecuteAction.Request(
uid(), rpc.p.ExecuteAction.Request.Args(action.id)),
rpc.p.ExecuteAction.Response)
event(ars, events.a.ActionExecution)
res = event(ars, events.a.ActionResult)
assert res.data
assert res.data.action_id == action.id
assert not res.data.error
assert ars.call_rpc((rpc.s.StopScene.Request(uid())),
rpc.s.StopScene.Response).result
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Stopping
assert event(ars, events.s.SceneState
).data.state == events.s.SceneState.Data.StateEnum.Stopped
assert ars.call_rpc(
rpc.p.RemoveAction.Request(uid(), rpc.p.IdArgs(action.id)),
rpc.p.RemoveAction.Response).result
assert event(ars, events.p.ActionChanged).data
assert ars.call_rpc(
rpc.p.RemoveConstant.Request(uid(),
rpc.p.RemoveConstant.Request.Args(c1.id)),
rpc.p.RemoveConstant.Response).result
event(ars, events.p.ProjectConstantChanged)
def test_object_aiming(start_processes: None, ars: ARServer) -> None:
mesh = Mesh(Box.__name__, "mesh.dae", [Pose(), Pose(), Pose()])
assert mesh.focus_points
Box.mesh_filename = mesh.data_id
with tempfile.NamedTemporaryFile("wb") as file:
upload_def(Box, model=mesh, file_to_upload=file.name)
upload_def(DummyMultiArmRobot)
test = "test"
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.s.NewScene.Request(get_id(), rpc.s.NewScene.Request.Args(test)), rpc.s.NewScene.Response
).result
assert len(event(ars, events.o.ChangedObjectTypes).data) == 2
event(ars, events.s.OpenScene)
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(get_id(), rpc.s.AddObjectToScene.Request.Args("obj", Box.__name__, Pose())),
rpc.s.AddObjectToScene.Response,
).result
scene_obj = event(ars, events.s.SceneObjectChanged).data
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
get_id(), rpc.s.AddObjectToScene.Request.Args("robot", DummyMultiArmRobot.__name__, Pose())
),
rpc.s.AddObjectToScene.Response,
).result
scene_robot = event(ars, events.s.SceneObjectChanged).data
assert ars.call_rpc(
rpc.s.StartScene.Request(get_id()),
rpc.s.StartScene.Response,
).result
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Starting
assert event(ars, events.s.SceneState).data.state == events.s.SceneState.Data.StateEnum.Started
arm = DummyMultiArmRobot.Arms.left
robot_arg = RobotArg(scene_robot.id, list(DummyMultiArmRobot.EEF[arm])[0], arm)
# ------------------------------------------------------------------------------------------------------------------
lock_object(ars, scene_obj.id)
lock_object(ars, scene_robot.id)
assert ars.call_rpc(
rpc.o.ObjectAimingStart.Request(get_id(), rpc.o.ObjectAimingStart.Request.Args(scene_obj.id, robot_arg)),
rpc.o.ObjectAimingStart.Response,
).result
assert not ars.call_rpc(
rpc.o.ObjectAimingStart.Request(get_id(), rpc.o.ObjectAimingStart.Request.Args(scene_obj.id, robot_arg)),
rpc.o.ObjectAimingStart.Response,
).result
assert ars.call_rpc(
rpc.o.ObjectAimingAddPoint.Request(get_id(), rpc.o.ObjectAimingAddPoint.Request.Args(0)),
rpc.o.ObjectAimingAddPoint.Response,
).result
assert ars.call_rpc(
rpc.o.ObjectAimingCancel.Request(get_id()),
rpc.o.ObjectAimingCancel.Response,
).result
unlock_object(ars, scene_obj.id)
unlock_object(ars, scene_robot.id)
# ------------------------------------------------------------------------------------------------------------------
lock_object(ars, scene_obj.id)
lock_object(ars, scene_robot.id)
assert ars.call_rpc(
rpc.o.ObjectAimingStart.Request(get_id(), rpc.o.ObjectAimingStart.Request.Args(scene_obj.id, robot_arg)),
rpc.o.ObjectAimingStart.Response,
).result
assert not ars.call_rpc(
rpc.o.ObjectAimingAddPoint.Request(get_id(), rpc.o.ObjectAimingAddPoint.Request.Args(-1)),
rpc.o.ObjectAimingAddPoint.Response,
).result
assert not ars.call_rpc(
rpc.o.ObjectAimingAddPoint.Request(get_id(), rpc.o.ObjectAimingAddPoint.Request.Args(len(mesh.focus_points))),
rpc.o.ObjectAimingAddPoint.Response,
).result
assert not ars.call_rpc(
rpc.o.ObjectAimingDone.Request(get_id()),
rpc.o.ObjectAimingDone.Response,
).result
for idx in range(len(mesh.focus_points)):
assert ars.call_rpc(
rpc.o.ObjectAimingAddPoint.Request(get_id(), rpc.o.ObjectAimingAddPoint.Request.Args(idx)),
rpc.o.ObjectAimingAddPoint.Response,
).result
assert ars.call_rpc(
rpc.o.ObjectAimingDone.Request(get_id()),
rpc.o.ObjectAimingDone.Response,
).result
assert event(ars, events.s.SceneObjectChanged).data.id == scene_obj.id
unlock_object(ars, scene_obj.id)
unlock_object(ars, scene_robot.id)
def test_update_object_model(start_processes: None, ars: ARServer) -> None:
upload_def(BoxType, Box(BoxType.__name__, 0.1, 0.1, 0.1))
upload_def(DummyMultiArmRobot)
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.s.NewScene.Request(get_id(), rpc.s.NewScene.Request.Args("TestScene")), rpc.s.NewScene.Response
).result
assert len(event(ars, events.o.ChangedObjectTypes).data) == 2
event(ars, events.s.OpenScene)
event(ars, events.s.SceneState)
lock_object(ars, BoxType.__name__)
om = ObjectModel(Model3dType.SPHERE, sphere=Sphere(BoxType.__name__, 0.1))
assert ars.call_rpc(
rpc.o.UpdateObjectModel.Request(get_id(), rpc.o.UpdateObjectModel.Request.Args(BoxType.__name__, om)),
rpc.o.UpdateObjectModel.Response,
).result
ot_evt = event(ars, events.o.ChangedObjectTypes)
assert ot_evt.change_type == ot_evt.Type.UPDATE
assert len(ot_evt.data) == 1
assert ot_evt.data[0].object_model == om
assert ot_evt.data[0].type == BoxType.__name__
assert ot_evt.data[0].has_pose
assert not ot_evt.data[0].disabled
assert BoxType.__name__ in {obj.id for obj in project_service.get_object_type_ids()}
assert BoxType.__name__ in {mod.id for mod in project_service.get_models()}
unlock_object(ars, BoxType.__name__)
lock_object(ars, DummyMultiArmRobot.__name__)
assert not ars.call_rpc(
rpc.o.UpdateObjectModel.Request(
get_id(),
rpc.o.UpdateObjectModel.Request.Args(
DummyMultiArmRobot.__name__,
ObjectModel(Model3dType.SPHERE, sphere=Sphere(DummyMultiArmRobot.__name__, 0.1)),
),
),
rpc.o.UpdateObjectModel.Response,
).result
unlock_object(ars, DummyMultiArmRobot.__name__)
delete_res_1 = ars.call_rpc(
rpc.o.DeleteObjectTypes.Request(get_id(), {BoxType.__name__}, dry_run=True),
rpc.o.DeleteObjectTypes.Response,
)
assert delete_res_1.result
assert delete_res_1.data is None
delete_res_2 = ars.call_rpc(
rpc.o.DeleteObjectTypes.Request(get_id(), {BoxType.__name__}),
rpc.o.DeleteObjectTypes.Response,
)
assert delete_res_2.result
assert delete_res_2.data is None
ot_evt2 = event(ars, events.o.ChangedObjectTypes)
assert ot_evt2.change_type == ot_evt.Type.REMOVE
assert len(ot_evt2.data) == 1
assert ot_evt2.data[0].object_model == om
assert ot_evt2.data[0].type == BoxType.__name__
assert BoxType.__name__ not in {obj.id for obj in project_service.get_object_type_ids()}
assert BoxType.__name__ not in {mod.id for mod in project_service.get_models()}
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