def test_extract_task__success__returns_perform_task_state(self):
task_return = TaskGroundingReturn()
task_return.is_success = True
extract_task_State = dialog_flow.ExtractTaskState(
self.state_dict, self.container)
self.container.speak = Mock()
self.container.task_grounding.get_specific_task_from_task = Mock(
return_value=task_return)
extract_task_State.state_dict[
"last_received_sentence"] = "Dummy sentence"
return_state = extract_task_State.execute()
self.assertTrue(isinstance(return_state, dialog_flow.PerformTaskState))
def test_validate_task__any_error__returns_ask_for_clarification_state(
self):
task_grounding_return = TaskGroundingReturn()
error = TaskGroundingError()
error.error_code = TaskErrorType.UNKNOWN
error.error_task_name = "Dummy Task"
task_grounding_return.error = error
validate_task_state = dialog_flow.ValidateTaskState(
self.state_dict, self.container)
validate_task_state.state_dict[
'task_grounding_return'] = task_grounding_return
self.container.speak = Mock()
return_state = validate_task_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.AskForClarificationState))
def test_clarify_objects__no_proper_answer__returns_wait_for_response_state(
self):
entities = [(EntityType.LOCATION, "blue"),
(EntityType.LOCATION, "cover"),
(EntityType.OBJECT, "next"),
(EntityType.LOCATION, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")]
grounding_return = GroundingReturn()
grounding_return.is_success = True
base_task = Task(name="Dummy name")
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
self.container.ner.get_entities = Mock(return_value=entities)
self.container.grounding.find_object = Mock(
return_value=grounding_return)
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
clarify_objects_state.is_first_run = False
self.container.speak = Mock()
return_state = clarify_objects_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.WaitForResponseState))
def test_clarify_objects__cant_find_no_restart_request_grounding_fail_new_error__returns_clarify_state(
self):
entities = [(EntityType.LOCATION, "blue"),
(EntityType.LOCATION, "cover"),
(EntityType.OBJECT, "next"),
(EntityType.LOCATION, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")]
grounding_return = GroundingReturn()
grounding_return.is_success = False
grounding_return.error_code = GroundingErrorType.ALREADY_KNOWN
self.container.ner.get_entities = Mock(return_value=entities)
self.container.grounding.find_object = Mock(
return_value=grounding_return)
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
clarify_objects_state.error = GroundingErrorType.CANT_FIND
clarify_objects_state.is_first_run = False
self.container.speak = Mock()
return_state = clarify_objects_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.ClarifyObjects))
def test_perform_task__succeeds_to_perform_task__returns_perform_task_state(
self):
grounding_return = GroundingReturn()
grounding_return.is_success = True
grounding_return.object_infos.append("dummy")
self.container.speak = Mock()
self.container.robot.move_out_of_view = Mock()
self.container.camera.get_image = Mock()
self.container.camera.get_depth = Mock()
self.container.grounding.find_object = Mock(
return_value=grounding_return)
self.container.robot.pick_up = Mock(return_value=True)
perform_task_state = dialog_flow.PerformTaskState(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
perform_task_state.state_dict["base_task"] = base_task
perform_task_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = perform_task_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.PerformTaskState))
def setUp(self):
self.task_grounding = TaskGrounding(DatabaseHandler("test_grounding.db"))
self.returned = TaskGroundingReturn()
self.entities = [
(EntityType.COLOUR, "blue"),
(EntityType.OBJECT, "cover"),
(EntityType.LOCATION, "next"),
(EntityType.COLOUR, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")
]
def setUp(self):
self.state_dict = {
"last_received_sentence": None,
"last_received_sentence_timestamp": None,
"websocket_is_connected": False,
"task_grounding_return": TaskGroundingReturn(),
"base_task": Task,
"wait_response_called_from": None,
"tasks_to_perform": None,
"carrying_object": False,
"grounding_error": None,
}
self.container = Mock()
def test_clarify_objects__first_run_cant_find_object__returns_wait_response_state(
self):
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
clarify_objects_state.error = GroundingErrorType.CANT_FIND
self.container.speak = Mock()
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = clarify_objects_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.WaitForResponseState))
def test_perform_task__grounding_fails__returns_clarify_objects_state(
self):
grounding_return = GroundingReturn()
grounding_return.is_success = False
self.container.speak = Mock()
self.container.robot.move_out_of_view = Mock()
self.container.camera.get_image = Mock()
self.container.camera.get_depth = Mock()
self.container.grounding.find_object = Mock(
return_value=grounding_return)
perform_task_state = dialog_flow.PerformTaskState(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
base_task.objects_to_execute_on.append("dummy")
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
perform_task_state.state_dict["base_task"] = base_task
perform_task_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = perform_task_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.ClarifyObjects))
def setUp(self):
self.db = DatabaseHandler("test_grounding.db")
self.task_grounding = TaskGrounding(self.db)
self.returned = TaskGroundingReturn()
def __init__(self):
self.grounding = TaskGrounding()
self.returned = TaskGroundingReturn()
