def test_refuse_mission_because_robot_is_busy(self):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(goals=[
self.test_goal_generator(),
self.test_goal_generator(),
self.test_goal_generator()
])
acceptedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')
self.assertEquals(response, acceptedResponse)
self.assertEquals(len(tm.ongoingTasks), 3)
response = tm.assign_mission_service_handler(goals=[
self.test_goal_generator(),
self.test_goal_generator(),
self.test_goal_generator()
])
refusedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False',
reasonOfRefusal=
"Robot is currently busy with 3 tasks: ['example-skill', 'example-skill', 'example-skill']"
)
self.assertEquals(response, refusedResponse)
self.assertEquals(len(tm.ongoingTasks), 3)
def test_refused_because_empty_goals(self):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(goals=[])
refusedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False', reasonOfRefusal='Empty goals!')
self.assertEquals(response, refusedResponse)
self.assertEquals(len(tm.ongoingTasks), 0)
def test_refused_because_different_robotId(self):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(
robotId='differentRobotId')
refusedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False', reasonOfRefusal='Different robotId!')
self.assertEquals(response, refusedResponse)
self.assertEquals(len(tm.ongoingTasks), 0)
def test_accepted_simple_mission(self):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(
goals=[self.test_goal_generator()])
acceptedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')
self.assertEquals(response, acceptedResponse)
self.assertEquals(len(tm.ongoingTasks), 1)
def test_refused_bad_syntax_goal(self):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(
goals=['example-skill;exampleSkillProperty0'])
refusedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False',
reasonOfRefusal=
'Badly formatted goal (example-skill;exampleSkillProperty0): need more than 1 value to unpack'
)
self.assertEquals(response, refusedResponse)
self.assertEquals(len(tm.ongoingTasks), 0)
def test_execute_mission_called_for_simple_mission(self, mock):
tm = TaskManager(skills=[self.skill_generator()])
response = tm.assign_mission_service_handler(goals=[
self.test_goal_generator(),
self.test_goal_generator(),
self.test_goal_generator()
],
executeMission=True)
self.assertTrue(mock.called)
acceptedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')
self.assertEquals(response, acceptedResponse)
self.assertEquals(len(tm.ongoingTasks), 3)
def test_accepted_complex_mission(self):
tm = TaskManager(skills=[
self.skill_generator(),
self.skill_generator(
skillName='drive',
skillType='DriveSkill',
skillClass='DriveSkill',
skillProperties=['toObjectId', 'toObjectType'])
])
response = tm.assign_mission_service_handler(goals=[
self.test_goal_generator(),
'drive;toObjectId=testToObjectId;toObjectType=testToObjectType'
])
acceptedResponse = MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')
self.assertEquals(response, acceptedResponse)
self.assertEquals(len(tm.ongoingTasks), 2)
