def test_obj_relative_ap_global() -> None:
scene = Scene("s1")
# object rotated 90° clock-wise
so1 = SceneObject(
"so1", "WhatEver",
Pose(Position(1, 0, 0), Orientation(0, 0, -0.707, 0.707)))
scene.objects.append(so1)
cached_scene = CachedScene(scene)
project = Project("p1", scene.id)
ap1 = ActionPoint("ap1", Position(1, 0, 0), parent=so1.id)
project.action_points.append(ap1)
ap2 = ActionPoint("ap2", Position(1, 0, 0), parent=ap1.id)
no1 = NamedOrientation("o1", Orientation())
ap2.orientations.append(no1)
project.action_points.append(ap2)
cached_project = CachedProject(project)
make_relative_ap_global(cached_scene, cached_project, ap2)
check_ap(ap2)
assert ap2.position == Position(1, -2, 0)
assert so1.pose
assert no1.orientation == so1.pose.orientation
make_global_ap_relative(cached_scene, cached_project, ap2, ap1.id)
assert ap2.position == Position(1, 0, 0)
assert no1.orientation == Orientation()
check_ap(ap2)
def check_ap(ap: ActionPoint) -> None:
"""Make sure that the poses can be serialized a deserialized."""
for val in ap.position:
assert isinstance(val, float)
for no in ap.orientations:
for val in no.orientation:
assert isinstance(val, float)
assert ap == ActionPoint.from_json(ap.to_json())
def test_get_value() -> None:
p = Pose(Position(1, 2, 3), Orientation(1, 0, 0, 0))
scene = Scene("s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
project.action_points.append(ap1)
ap2 = ActionPoint("ap2", Position(), parent=ap1.id)
project.action_points.append(ap2)
ori1 = NamedOrientation("ori1", p.orientation)
ap2.orientations.append(ori1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, PosePlugin.type_name(),
json.dumps(ori1.id)),
ActionParameter(invalid_param_name, PosePlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
PosePlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
invalid_param_name)
value = PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
param_name)
exe_value = PosePlugin.parameter_execution_value(type_defs, cscene,
cproject, ac1.id,
param_name)
assert value == value
assert value != exe_value
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_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_global_aps_cls() -> None:
proj = Project("test", "scene_id")
pos = Position(1, 2, 3)
ap1 = ActionPoint("ap1", pos)
ap1_o1 = NamedOrientation("o1", Orientation(0.707, 0, 0, 0.707))
ap1.orientations.append(ap1_o1)
ap1_j1 = ProjectRobotJoints("j1", "robot", [Joint("whatever", 1234)])
ap1.robot_joints.append(ap1_j1)
proj.action_points.append(ap1)
os.environ["ARCOR2_PROJECT_PATH"] = "/tmp"
import arcor2.resources # noqa
my_name = "my_module"
my_spec = importlib.util.spec_from_loader(my_name, loader=None)
my_module = importlib.util.module_from_spec(my_spec)
cproj = CachedProject(proj)
src = global_action_points_class(cproj)
exec(src, my_module.__dict__)
sys.modules["my_module"] = my_module
aps = my_module.ActionPoints(SimResources(cproj)) # type: ignore
assert aps.ap1.position == pos
assert aps.ap1.position is not pos
assert aps.ap1.poses.o1 == Pose(ap1.position, ap1_o1.orientation)
assert aps.ap1.poses.o1.orientation is not ap1_o1.orientation
assert aps.ap1.joints.j1 == ap1_j1
assert aps.ap1.joints.j1 is not ap1_j1
def test_make_relative_ap_global_and_relative_again() -> None:
scene = Scene("s1")
so1 = SceneObject("so1", "WhatEver", Pose(Position(3, 0, 0),
Orientation()))
scene.objects.append(so1)
cached_scene = CachedScene(scene)
project = Project("p1", scene.id)
ap1 = ActionPoint("ap1", Position(-1, 0, 0), parent=so1.id)
project.action_points.append(ap1)
ap2 = ActionPoint("ap2", Position(-1, 0, 0), parent=ap1.id)
project.action_points.append(ap2)
ap3 = ActionPoint(
"ap3",
Position(-1, 0, 0),
parent=ap2.id,
orientations=[NamedOrientation("bla", random_orientation())])
project.action_points.append(ap3)
cached_project = CachedProject(project)
assert ap3.parent
ap3_parent = get_parent_pose(cached_scene, cached_project, ap3.parent)
assert Pose(ap2.position, Orientation()) == ap3_parent.pose
assert ap3_parent.parent_id == ap1.id
make_relative_ap_global(cached_scene, cached_project, ap3)
check_ap(ap3)
assert ap3.parent is None
assert ap3.position.x == 0.0 # type: ignore
make_global_ap_relative(cached_scene, cached_project, ap3, ap2.id)
check_ap(ap3)
assert ap3.parent == ap2.id
assert ap3.position.x == -1
ap3.parent = "something_unknown"
with pytest.raises(Arcor2Exception):
make_relative_ap_global(cached_scene, cached_project, ap3)
def project() -> UpdateableCachedProject:
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
ap1.actions.append(ac1)
ap1.actions.append(ac2)
ap1.actions.append(ac3)
ap1.actions.append(ac4)
return UpdateableCachedProject(project)
def test_get_value() -> None:
img = Image.new("RGB", (320, 240))
scene = Scene("s1", "s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, ImagePlugin.type_name(),
ImagePlugin.value_to_json(img)),
ActionParameter(invalid_param_name, ImagePlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
ImagePlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
invalid_param_name)
value = ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
param_name)
exe_value = ImagePlugin.parameter_execution_value(type_defs, cscene,
cproject, ac1.id,
param_name)
assert value == value
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_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_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_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])