def test_add_instance(self, mock_initialize_kb_service, mock_services):
kb.initialize()
def _update_knowledge_base(kb_operation, kb_item):
return KnowledgeUpdateServiceResponse(True)
services = {"update_knowledge_base": _update_knowledge_base}
mock_services.__getitem__.side_effect = lambda key: services[key]
self.assertTrue(kb.add_instance('v1', 'videotape'))
self.assertTrue(kb.add_instance('v2', 'videotape'))
self.assertTrue(kb.add_instance('c', 'container'))
self.assertTrue(kb.add_instance('b1', 'box'))
self.assertTrue(kb.add_instance('b2', 'box'))
def _get_current_instances(type_name):
return GetInstanceServiceResponse(['v1', 'v2', 'c', 'b1', 'b2'])
services = {"get_current_instances": _get_current_instances}
mock_services.__getitem__.side_effect = lambda key: services[key]
instances = kb.list_instances()
success = True
for instance in instances:
if instance not in ['v1', 'v2', 'c', 'b1', 'b2']:
success = False
self.assertTrue(success, 'Returned not correct instances')
def prepare_instances():
p = Pose(Point(0.25, .0, .0), Quaternion(0, 0, 0, 1))
kb.add_instance("p1", "place")
sdb.add_element("p1", sdb.Element(p, "place"))
p = Pose(Point(0.50, .0, .0), Quaternion(0, 0, 0, 1))
kb.add_instance("p2", "place")
sdb.add_element("p2", sdb.Element(p, "place"))
p = Pose(Point(0.75, .0, .0), Quaternion(0, 0, 0, 1))
kb.add_instance("p3", "place")
sdb.add_element("p3", sdb.Element(p, "place"))
p = Pose(Point(1.00, .0, .0), Quaternion(0, 0, 0, 1))
kb.add_instance("p4", "place")
sdb.add_element("p4", sdb.Element(p, "place"))
import rosplan_pytools
import rosplan_pytools.controller.knowledge_base as kb
import rosplan_pytools.controller.scene_database as sdb
import rosplan_pytools.controller.planning_system as ps
rospy.init_node("teste")
#rosplan_pytools.init()
kb.initialize("/rosplan_knowledge_base")
print("OLAR")
kb.reset()
# Using the KB
kb.add_instance("rover1", "rover")
kb.list_instances()
# You can store stuff into the scene database with a third arg
# kb.add_instance("msg1", "msg_type")
# sdb.add_element("msg1", sdb.Element(std_msgs.msg.String("Be sure to drink your ovaltine"), "msg_type"))
# kb.add_goal("robot-at", loc="loc1")
# kb.add_goal("has-received-message", msg="msg1", loc="loc1")
# # Then, plan and execute! using PS
# ps.plan()
# # Now, let's try stopping it
# time.sleep(2)
# ps.cancel()
def test_add_instance_incorrect_arguments(self):
self.assertRaises(TypeError, lambda: kb.add_instance(10.0, ''))
self.assertRaises(TypeError, lambda: kb.add_instance('', 10.0))