def test_FirstPlannerSucceeds_ReturnsImmediately(self):
first_planner = SuccessPlanner(self.traj, delay=True)
second_planner = FailPlanner()
planner = prpy.planning.Ranked(first_planner, second_planner)
# Run the metaplanner in a separate thread so we have control over when
# each delegate planner terminates.
def test_planner():
planner.PlanTest(self.robot)
test_thread = threading.Thread(target=test_planner)
test_thread.start()
first_planner.wait_for_start()
second_planner.wait_for_start()
# Force the first planner to return success. The meta-planner should
# immediately return success and the second planner should still be
# running in the background.
first_planner.finish()
test_thread.join(timeout=self.join_timeout)
self.assertFalse(test_thread.isAlive())
# Clean up by terminating the second planner.
second_planner.finish()
test_thread.join()
def test_FirstPlannerFails_ReturnsResultOfSecondPlanner(self):
first_planner = FailPlanner(delay=True)
second_planner = SuccessPlanner(self.traj, delay=True)
planner = prpy.planning.Ranked(first_planner, second_planner)
# Run the metaplanner in a separate thread so we have control over when
# each delegate planner terminates.
def test_planner():
planner.PlanTest(self.robot)
test_thread = threading.Thread(target=test_planner)
test_thread.start()
first_planner.wait_for_start()
second_planner.wait_for_start()
# Force the first planner to return failure. The meta-planner should
# wait for the second planner before declaring failure.
first_planner.finish()
# Force the second planner to return. This trajectory should be
# immediately returned by the meta-planner.
second_planner.finish()
test_thread.join(timeout=self.join_timeout)
self.assertFalse(test_thread.isAlive())
# Clean up.
test_thread.join()
def test_SecondPlannerSucceeds_WaitsForFirstPlanner(self):
first_planner = SuccessPlanner(self.traj, delay=True)
second_planner = SuccessPlanner(self.traj, delay=True)
planner = prpy.planning.Ranked(first_planner, second_planner)
# Run the metaplanner in a separate thread so we have control over when
# each delegate planner terminates.
def test_planner():
planner.PlanTest(self.robot)
test_thread = threading.Thread(target=test_planner)
test_thread.start()
first_planner.wait_for_start()
second_planner.wait_for_start()
# Force the second planner to return success. The metaplanner should
# continue waiting for the first planner.
second_planner.finish()
test_thread.join(timeout=self.join_timeout)
self.assertTrue(test_thread.isAlive())
# Terminate the first planner. The result should be instantly returned.
# TODO: Also check that the correct trajectory was returned.
first_planner.finish()
test_thread.join(timeout=self.join_timeout)
self.assertFalse(test_thread.isAlive())
