def test_objects(start_processes: None, ars: ARServer) -> None:
assert isinstance(ars.get_event(), events.c.ShowMainScreen)
res = ars.call_rpc(rpc.o.GetObjectTypes.Request(uid()),
rpc.o.GetObjectTypes.Response)
assert res.result
assert res.data is not None
for obj in res.data:
assert not obj.disabled, f"ObjectType {obj.type} disabled. {obj.problem}"
actions = ars.call_rpc(
rpc.o.GetActions.Request(uid(), TypeArgs(obj.type)),
rpc.o.GetActions.Response)
assert actions.result
assert actions.data is not None
for act in actions.data:
assert act.disabled == (act.problem is not None)
# some of the kinali ObjectTypes use unsupported parameter types and it is ok
if act.disabled:
assert act.problem
if act.problem.startswith("Unknown parameter type"):
continue
assert not act.disabled, f"Action {act.name} of {obj.type} disabled. {act.problem}"
def test_robot_meta(start_processes: None, ars: ARServer) -> None:
assert isinstance(ars.get_event(), events.c.ShowMainScreen)
res = ars.call_rpc(rpc.r.GetRobotMeta.Request(uid()),
rpc.r.GetRobotMeta.Response)
assert res.result
assert res.data is not None
robots: Dict[str, RobotMeta] = {robot.type: robot for robot in res.data}
magician = robots[DobotMagician.__name__]
assert magician.features.move_to_pose
assert magician.features.move_to_joints
assert magician.features.inverse_kinematics
assert magician.features.forward_kinematics
assert not magician.features.stop
assert not magician.features.hand_teaching
m1 = robots[DobotM1.__name__]
assert m1.features.move_to_pose
assert m1.features.move_to_joints
assert m1.features.hand_teaching
assert not m1.features.inverse_kinematics
assert not m1.features.forward_kinematics
assert not m1.features.stop
def unlock_object(ars: ARServer, obj_id: str) -> None:
assert ars.call_rpc(
rpc.lock.WriteUnlock.Request(
uid(), rpc.lock.WriteUnlock.Request.Args(obj_id)),
rpc.lock.WriteUnlock.Response)
event(ars, events.lk.ObjectsUnlocked)
def lock_object(ars: ARServer, obj_id: str, lock_tree: bool = False) -> None:
assert ars.call_rpc(
rpc.lock.WriteLock.Request(
uid(), rpc.lock.WriteLock.Request.Args(obj_id, lock_tree)),
rpc.lock.WriteLock.Response,
).result
event(ars, events.lk.ObjectsLocked)
def test_project_ap_rpcs(start_processes: None, ars: ARServer,
scene: common.Scene) -> None:
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)
def ars() -> Iterator[ARServer]:
with ARServer(ars_connection_str(),
timeout=30,
event_mapping=event_mapping) as ws:
test_username = "******"
assert ws.call_rpc(
rpc.u.RegisterUser.Request(
uid(), rpc.u.RegisterUser.Request.Args(test_username)),
rpc.u.RegisterUser.Response,
).result
yield ws
def test_objects(start_processes: None, ars: ARServer) -> None:
assert isinstance(ars.get_event(), events.c.ShowMainScreen)
res = ars.call_rpc(rpc.o.GetObjectTypes.Request(uid()),
rpc.o.GetObjectTypes.Response)
assert res.result
assert res.data is not None
for obj in res.data:
assert not obj.disabled, f"ObjectType {obj.type} disabled. {obj.problem}"
actions = ars.call_rpc(
rpc.o.GetActions.Request(uid(), TypeArgs(obj.type)),
rpc.o.GetActions.Response)
assert actions.result
assert actions.data is not None
for act in actions.data:
assert act.disabled == (act.problem is not None)
assert not act.disabled, f"Action {act.name} of {obj.type} disabled. {act.problem}"
def add_logic_item(
ars: ARServer,
start: str,
end: str,
condition: Optional[common.ProjectLogicIf] = None) -> common.LogicItem:
assert ars.call_rpc(
rpc.p.AddLogicItem.Request(
uid(), rpc.p.AddLogicItem.Request.Args(start, end, condition)),
rpc.p.AddLogicItem.Response,
).result
evt = event(ars, events.p.LogicItemChanged)
assert evt.data
return evt.data
def test_valid_object_types(start_processes: None, ars: ARServer, model: ObjectModel) -> None:
event(ars, events.c.ShowMainScreen)
type_name = "TestType"
model.model().id = type_name
assert ars.call_rpc(
rpc.o.NewObjectType.Request(
uid(), objects.ObjectTypeMeta(type_name, base=GenericWithPose.__name__, object_model=model)
),
rpc.o.NewObjectType.Response,
).result
evt = event(ars, events.o.ChangedObjectTypes)
assert len(evt.data) == 1
assert evt.data[0].has_pose
assert evt.data[0].type == type_name
assert evt.data[0].base == GenericWithPose.__name__
assert evt.data[0].object_model == model
def test_lock_events(start_processes: None, ars: ARServer, scene: cmn.Scene,
project: cmn.Project) -> None:
assert ars.call_rpc(rpc.p.OpenProject.Request(uid(), 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(uid(),
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(
uid(), rpc.lock.WriteLock.Request.Args(obj_id)),
rpc.lock.WriteLock.Response).result
# lock tree
assert not ars2.call_rpc(
rpc.lock.WriteLock.Request(
uid(), rpc.lock.WriteLock.Request.Args(obj_id, True)),
rpc.lock.WriteLock.Response,
).result
# unlock
assert not ars2.call_rpc(
rpc.lock.WriteUnlock.Request(
uid(), 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(uid(),
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_scene_basic_rpcs(start_processes: None, ars: ARServer) -> None:
test = "Test"
# initial event
show_main_screen_event = event(ars, events.c.ShowMainScreen)
assert show_main_screen_event.data
assert show_main_screen_event.data.what == events.c.ShowMainScreen.Data.WhatEnum.ScenesList
# first, there are no scenes
scenes = ars.call_rpc(rpc.s.ListScenes.Request(uid()), rpc.s.ListScenes.Response)
assert scenes.result
assert not scenes.data
assert ars.call_rpc(
rpc.s.NewScene.Request(uid(), rpc.s.NewScene.Request.Args(test, test)), rpc.s.NewScene.Response
).result
open_scene_event = event(ars, events.s.OpenScene)
assert open_scene_event.parent_id is None
assert open_scene_event.change_type is None
assert open_scene_event.data
assert open_scene_event.data.scene.id
scene_id = open_scene_event.data.scene.id
assert open_scene_event.data.scene.name == test
assert open_scene_event.data.scene.desc == test
assert not open_scene_event.data.scene.objects
# attempt to create a new scene while scene is open should fail
assert not ars.call_rpc(
rpc.s.NewScene.Request(uid(), rpc.s.NewScene.Request.Args(test, test)), rpc.s.NewScene.Response
).result
assert ars.call_rpc(rpc.s.SaveScene.Request(uid()), rpc.s.SaveScene.Response).result
event(ars, events.s.SceneSaved)
assert ars.call_rpc(rpc.s.CloseScene.Request(uid()), rpc.s.CloseScene.Response).result
event(ars, events.s.SceneClosed)
show_main_screen_event_2 = event(ars, events.c.ShowMainScreen)
assert show_main_screen_event_2.data
assert show_main_screen_event_2.data.what == events.c.ShowMainScreen.Data.WhatEnum.ScenesList
assert show_main_screen_event_2.data.highlight == scene_id
# attempt to open non-existent scene
assert not ars.call_rpc(
rpc.s.OpenScene.Request(uid(), IdArgs("some-random-nonsense")), rpc.s.OpenScene.Response
).result
list_of_scenes = ars.call_rpc(rpc.s.ListScenes.Request(uid()), rpc.s.ListScenes.Response)
assert list_of_scenes.result
assert list_of_scenes.data
assert len(list_of_scenes.data) == 1
assert list_of_scenes.data[0].id == scene_id
# open previously saved scene
assert ars.call_rpc(rpc.s.OpenScene.Request(uid(), IdArgs(scene_id)), rpc.s.OpenScene.Response).result
open_scene_event_2 = event(ars, events.s.OpenScene)
assert open_scene_event_2.data
assert open_scene_event_2.data.scene.id == scene_id
assert ars.call_rpc(rpc.s.CloseScene.Request(uid()), rpc.s.CloseScene.Response).result
event(ars, events.s.SceneClosed)
show_main_screen_event_3 = event(ars, events.c.ShowMainScreen)
assert show_main_screen_event_3.data
assert show_main_screen_event_3.data.what == events.c.ShowMainScreen.Data.WhatEnum.ScenesList
assert show_main_screen_event_3.data.highlight == scene_id
with ARServer(ars_connection_str(), timeout=10, event_mapping=event_mapping) as ars_2:
smse = event(ars_2, events.c.ShowMainScreen)
assert smse.data
assert smse.data.what == events.c.ShowMainScreen.Data.WhatEnum.ScenesList
assert smse.data.highlight is None
assert ars.call_rpc(rpc.s.DeleteScene.Request(uid(), IdArgs(scene_id)), rpc.s.DeleteScene.Response).result
scene_changed_evt = event(ars, events.s.SceneChanged)
assert scene_changed_evt.data
assert scene_changed_evt.data.id == scene_id
assert scene_changed_evt.change_type == Event.Type.REMOVE
list_of_scenes_2 = ars.call_rpc(rpc.s.ListScenes.Request(uid()), rpc.s.ListScenes.Response)
assert list_of_scenes_2.result
assert not list_of_scenes_2.data
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 close_project(ars: ARServer) -> None:
assert ars.call_rpc(rpc.p.CloseProject.Request(uid()),
rpc.p.CloseProject.Response).result
event(ars, events.p.ProjectClosed)
def project(ars: ARServer, scene: common.Scene) -> common.Project:
"""Creates project with following objects:
ap - global AP
ap_ap - child of ap
ap_ap_ap - child of ap_ap
ori - ap_ap_ap orientation
"""
test = "Test project"
assert ars.call_rpc(
rpc.p.NewProject.Request(
uid(), rpc.p.NewProject.Request.Args(scene.id, test, test)),
rpc.p.NewProject.Response).result
project_evt = event(ars, events.p.OpenProject)
assert project_evt.data
event(ars, events.s.SceneState)
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
uid(),
rpc.p.AddActionPoint.Request.Args("ap", common.Position(0, 0, 0))),
rpc.p.AddActionPoint.Response,
).result
ap_evt = event(ars, events.p.ActionPointChanged)
assert ap_evt.data
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
uid(),
rpc.p.AddActionPoint.Request.Args("ap_ap",
common.Position(0, 0, 1),
ap_evt.data.id)),
rpc.p.AddActionPoint.Response,
).result
ap_ap_evt = event(ars, events.p.ActionPointChanged)
assert ap_ap_evt.data
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
uid(),
rpc.p.AddActionPoint.Request.Args("ap_ap_ap",
common.Position(0, 0, 2),
ap_ap_evt.data.id)),
rpc.p.AddActionPoint.Response,
).result
ap_ap_ap_evt = event(ars, events.p.ActionPointChanged)
assert ap_ap_ap_evt.data
lock_object(ars, ap_ap_ap_evt.data.id)
assert ars.call_rpc(
rpc.p.AddActionPointOrientation.Request(
uid(),
rpc.p.AddActionPointOrientation.Request.Args(
ap_ap_ap_evt.data.id, common.Orientation(), "ori")),
rpc.p.AddActionPointOrientation.Response,
).result
ori_evt = event(ars, events.p.OrientationChanged)
assert ori_evt.data
unlock_object(ars, ap_ap_ap_evt.data.id)
assert ars.call_rpc(rpc.p.SaveProject.Request(uid()),
rpc.p.SaveProject.Response).result
event(ars, events.p.ProjectSaved)
assert ars.call_rpc(rpc.p.CloseProject.Request(uid()),
rpc.p.CloseProject.Response).result
event(ars, events.p.ProjectClosed)
event(ars, events.c.ShowMainScreen)
return project_evt.data.project
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_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)
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
uid(),
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(
uid(), rpc.p.NewProject.Request.Args(scene.id, "Project name")),
rpc.p.NewProject.Response,
).result
event(ars, events.p.OpenProject)
assert ars.call_rpc(
rpc.p.AddActionPoint.Request(
uid(), 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(
uid(),
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(
uid(),
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)
add_logic_item(
ars, a1.id, a2.id,
ProjectLogicIf(f"{a1.id}/{FlowTypes.DEFAULT}/{0}", json.dumps(True)))
add_logic_item(ars, a2.id, LogicItem.END)
add_logic_item(
ars, a1.id, LogicItem.END,
ProjectLogicIf(f"{a1.id}/{FlowTypes.DEFAULT}/{0}", json.dumps(False)))
# TODO try to add some invalid connections here?
save_project(ars)
def test_project_basic_rpcs(start_processes: None, ars: ARServer,
scene: common.Scene) -> None:
# first, there are no projects
projects = ars.call_rpc(rpc.p.ListProjects.Request(uid()),
rpc.p.ListProjects.Response)
assert projects.result
assert not projects.data
project_name = "Test project"
# attempt to use non-existent scene_id
assert not ars.call_rpc(
rpc.p.NewProject.Request(
uid(),
rpc.p.NewProject.Request.Args("some non-sense string",
project_name)),
rpc.p.NewProject.Response,
).result
# attempt to open non-existent project
assert not ars.call_rpc(
rpc.p.OpenProject.Request(uid(), IdArgs("some-random-nonsense")),
rpc.p.OpenProject.Response).result
# correct scene_id
assert ars.call_rpc(
rpc.p.NewProject.Request(
uid(), rpc.p.NewProject.Request.Args(scene.id, project_name)),
rpc.p.NewProject.Response,
).result
open_project_evt = event(ars, events.p.OpenProject)
event(ars, events.s.SceneState)
assert open_project_evt.data
assert open_project_evt.change_type is None
assert open_project_evt.parent_id is None
assert open_project_evt.data.scene.id == scene.id
project_id = open_project_evt.data.project.id
assert open_project_evt.data.project.name == project_name
assert not open_project_evt.data.project.action_points
assert not open_project_evt.data.project.parameters
assert not open_project_evt.data.project.functions
assert not open_project_evt.data.project.logic
# attempt to create project while another project is opened
assert not ars.call_rpc(
rpc.p.NewProject.Request(
uid(),
rpc.p.NewProject.Request.Args("some non-sense string", "blah")),
rpc.p.NewProject.Response,
).result
save_project(ars)
close_project(ars)
show_main_screen_event = event(ars, events.c.ShowMainScreen)
assert show_main_screen_event.data
assert show_main_screen_event.data.what == events.c.ShowMainScreen.Data.WhatEnum.ProjectsList
assert show_main_screen_event.data.highlight == project_id
list_of_projects = ars.call_rpc(rpc.p.ListProjects.Request(uid()),
rpc.p.ListProjects.Response)
assert list_of_projects.result
assert list_of_projects.data
assert len(list_of_projects.data) == 1
assert list_of_projects.data[0].id == project_id
""" TODO: fix this
with ARServer(WS_CONNECTION_STR, timeout=10, event_mapping=event_mapping) as ars_2:
smse = event(ars_2, events.c.ShowMainScreen)
assert smse.data
assert smse.data.what == events.c.ShowMainScreen.Data.WhatEnum.ProjectsList
assert smse.data.highlight is None
"""
# it should not be possible to delete scene used by a project
assert not ars.call_rpc(rpc.s.DeleteScene.Request(uid(), IdArgs(scene.id)),
rpc.s.DeleteScene.Response).result
assert ars.call_rpc(rpc.p.DeleteProject.Request(uid(), IdArgs(project_id)),
rpc.p.DeleteProject.Response).result
project_changed_evt = event(ars, events.p.ProjectChanged)
assert project_changed_evt.data
assert project_changed_evt.data.id == project_id
assert project_changed_evt.change_type == Event.Type.REMOVE
assert ars.call_rpc(rpc.s.DeleteScene.Request(uid(), IdArgs(scene.id)),
rpc.s.DeleteScene.Response).result
scene_changed_evt = event(ars, events.s.SceneChanged)
assert scene_changed_evt.data
assert scene_changed_evt.data.id == scene.id
assert scene_changed_evt.change_type == Event.Type.REMOVE
list_of_projects_2 = ars.call_rpc(rpc.p.ListProjects.Request(uid()),
rpc.p.ListProjects.Response)
assert list_of_projects_2.result
assert not list_of_projects_2.data
def scene(ars: ARServer) -> common.Scene:
assert isinstance(ars.get_event(), events.c.ShowMainScreen)
test = "Test scene"
assert ars.call_rpc(
rpc.s.NewScene.Request(uid(), rpc.s.NewScene.Request.Args(test, test)),
rpc.s.NewScene.Response).result
scene_evt = event(ars, events.s.OpenScene)
assert scene_evt.data
event(ars, events.s.SceneState)
test_type = "TestType"
assert ars.call_rpc(
rpc.o.NewObjectType.Request(
uid(), objects.ObjectTypeMeta(test_type, base=Generic.__name__)),
rpc.o.NewObjectType.Response,
).result
tt_evt = event(ars, events.o.ChangedObjectTypes)
assert len(tt_evt.data) == 1
assert not tt_evt.data[0].has_pose
assert tt_evt.data[0].type == test_type
assert tt_evt.data[0].base == Generic.__name__
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
uid(), rpc.s.AddObjectToScene.Request.Args("test_type",
test_type)),
rpc.s.AddObjectToScene.Response,
).result
event(ars, events.s.SceneObjectChanged)
test_type_with_pose = "TestTypeWithPose"
assert ars.call_rpc(
rpc.o.NewObjectType.Request(
uid(),
objects.ObjectTypeMeta(test_type_with_pose,
base=GenericWithPose.__name__)),
rpc.o.NewObjectType.Response,
).result
ttwp_evt = event(ars, events.o.ChangedObjectTypes)
assert len(ttwp_evt.data) == 1
assert ttwp_evt.data[0].has_pose
assert ttwp_evt.data[0].type == test_type_with_pose
assert ttwp_evt.data[0].base == GenericWithPose.__name__
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
uid(),
rpc.s.AddObjectToScene.Request.Args("test_type_with_pose",
test_type)),
rpc.s.AddObjectToScene.Response,
).result
event(ars, events.s.SceneObjectChanged)
assert ars.call_rpc(rpc.s.SaveScene.Request(uid()),
rpc.s.SaveScene.Response).result
event(ars, events.s.SceneSaved)
assert ars.call_rpc(rpc.s.CloseScene.Request(uid()),
rpc.s.CloseScene.Response).result
event(ars, events.s.SceneClosed)
event(ars, events.c.ShowMainScreen)
return scene_evt.data.scene
def test_run_simple_project(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("time_actions",
TimeActions.__name__)),
rpc.s.AddObjectToScene.Response,
).result
obj = event(ars, events.s.SceneObjectChanged).data
assert obj
assert ars.call_rpc(
rpc.s.AddObjectToScene.Request(
uid(),
rpc.s.AddObjectToScene.Request.Args("random_actions",
RandomActions.__name__)),
rpc.s.AddObjectToScene.Response,
).result
obj2 = event(ars, events.s.SceneObjectChanged).data
assert obj2
# ------------------------------------------------------------------------------------------------------------------
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.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.AddConstant.Request(
uid(),
rpc.p.AddConstant.Request.Args("min_time", "double",
json.dumps(0.45))),
rpc.p.AddActionPoint.Response,
).result
c1 = event(ars, events.p.ProjectConstantChanged).data
assert c1
assert ars.call_rpc(
rpc.p.AddAction.Request(
uid(),
rpc.p.AddAction.Request.Args(
ap.id,
"test_action",
f"{obj2.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 is not None
assert ars.call_rpc(
rpc.p.AddAction.Request(
uid(),
rpc.p.AddAction.Request.Args(
ap.id,
"test_action2",
f"{obj.id}/{TimeActions.sleep.__name__}",
[
common.ActionParameter(
"seconds",
common.ActionParameter.TypeEnum.LINK,
json.dumps(
f"{action.id}/{common.FlowTypes.DEFAULT}/0"),
)
],
[common.Flow()],
),
),
rpc.p.AddAction.Response,
).result
action2 = event(ars, events.p.ActionChanged).data
assert action2 is not None
add_logic_item(ars, common.LogicItem.START, action.id)
event(ars, events.lk.ObjectsUnlocked)
add_logic_item(ars, action.id, action2.id)
event(ars, events.lk.ObjectsUnlocked)
add_logic_item(ars, action2.id, common.LogicItem.END)
event(ars, events.lk.ObjectsUnlocked)
save_project(ars)
LOGGER.debug(project_service.get_project(proj.project.id))
# TODO test also temporary package
close_project(ars)
# ------------------------------------------------------------------------------------------------------------------
event(ars, events.c.ShowMainScreen)
assert ars.call_rpc(
rpc.b.BuildProject.Request(
uid(),
rpc.b.BuildProject.Request.Args(proj.project.id, "Package name")),
rpc.b.BuildProject.Response,
).result
package = event(ars, eevents.PackageChanged).data
assert package is not None
assert ars.call_rpc(
erpc.RunPackage.Request(uid(),
erpc.RunPackage.Request.Args(package.id)),
erpc.RunPackage.Response).result
ps = event(ars, arcor2_events.PackageState).data
assert ps
assert ps.package_id == package.id
assert ps.state == ps.state.RUNNING
pi = event(ars, arcor2_events.PackageInfo).data
assert pi
assert pi.package_id == package.id
# random_double action
act_state_before = event(ars, arcor2_events.ActionStateBefore).data
assert act_state_before
assert act_state_before.action_id == action.id
assert len(act_state_before.parameters) == 2
act_state_after = event(ars, arcor2_events.ActionStateAfter).data
assert act_state_after
assert act_state_after.action_id == action.id
assert act_state_after.results
# sleep action
act2_state_before = event(ars, arcor2_events.ActionStateBefore).data
assert act2_state_before
assert act2_state_before.action_id == action2.id
assert len(act2_state_before.parameters) == 1
act2_state_after = event(ars, arcor2_events.ActionStateAfter).data
assert act2_state_after
assert act2_state_after.action_id == action2.id
assert not act2_state_after.results
# TODO pause, resume
assert ars.call_rpc(erpc.StopPackage.Request(uid()),
erpc.StopPackage.Response).result
ps2 = wait_for_event(ars, arcor2_events.PackageState).data
assert ps2
assert ps2.package_id == package.id
assert ps2.state == ps.state.STOPPING
ps3 = wait_for_event(ars, arcor2_events.PackageState).data
assert ps3
assert ps3.package_id == package.id
assert ps3.state == ps.state.STOPPED
show_main_screen_event = event(ars, events.c.ShowMainScreen)
assert show_main_screen_event.data
assert show_main_screen_event.data.what == events.c.ShowMainScreen.Data.WhatEnum.PackagesList
assert show_main_screen_event.data.highlight == package.id
