def test_method_callable(self, mock):
tm = TaskManager(skills=self.skill_generator())
tm.ongoingTasks = [Skill()]
tm.execute_mission()
self.assertTrue(mock.called)
def test_correct_task_action_client_called(self, mock):
tm = TaskManager(skills=[self.skill_generator()])
task1 = GenericSkill(skillName='example-skill',
skillType='GenericSkill',
skillClass='GenericSkill',
allowedSkillPropertiesKeys=[
'exampleSkillProperty0',
'exampleSkillProperty0'
],
skillProperties={
'exampleSkillProperty0': 'exampleSkillValue0',
'exampleSkillProperty1': 'exampleSkillValue1'
})
tm.ongoingTasks = [task1]
tm.execute_mission('fakeMissionId')
self.assertTrue(mock.called)
def test_multiple_generic_skills(self):
skills = ROSInterface.get_ROS_param(self.skillsParamName)
task1 = GenericSkill(skillName = 'example-skill', skillType = 'GenericSkill', skillClass = 'GenericSkill', allowedSkillPropertiesKeys = ['exampleSkillProperty0', 'exampleSkillProperty0'], skillProperties = {'exampleSkillProperty0': 'exampleSkillValue0', 'exampleSkillProperty1': 'exampleSkillValue1'})
tm = TaskManager(robotId = 'testRobotId', skills = skills)
tm.ongoingTasks = [task1, task1, task1]
result = tm.execute_mission('fakeMissionId')
self.assertEquals(tm.missions[0]['statusCode'], 11)
self.assertEquals(tm.missions[0]['taskId'], 'example-skill')
def test_generic_skill_execution_timeout_while_waiting_for_action_response(self):
skills = ROSInterface.get_ROS_param(self.skillsParamName)
task1 = GenericSkill(skillName = 'example-skill', skillType = 'GenericSkill', skillClass = 'GenericSkill', allowedSkillPropertiesKeys = ['exampleSkillProperty0', 'exampleSkillProperty0'], skillProperties = {'exampleSkillProperty0': 'exampleSkillValue0', 'exampleSkillProperty1': 'exampleSkillValue1'})
tm = TaskManager(robotId = 'testRobotId', skills = skills, waitForActionClientTimeOut = 0.5)
tm.ongoingTasks = [task1]
result = tm.execute_mission('fakeMissionId')
self.assertEquals(tm.missions[0]['statusCode'], 12)
self.assertEquals(tm.missions[0]['taskId'], 'example-skill')
self.assertEquals(tm.missions[0]['statusDescription'], 'Mission Failed! Task example-skill Failed: Skill Action Client Error: Timed out (0.5s) while waiting for GenericSkill Action Server result')
def test_wait_skill_execution_timeout_while_waiting_for_server(self):
skills = ROSInterface.get_ROS_param(self.skillsParamName)
task1 = GenericSkill(skillName = 'crob-wait', skillType = 'WaitSkill', skillClass = 'GenericSkill', allowedSkillPropertiesKeys = ['waitTime'], skillProperties = {'waitTime': 5})
tm = TaskManager(robotId = 'testRobotId', skills = skills, waitForServerTimeOut = 2)
tm.ongoingTasks = [task1]
result = tm.execute_mission('fakeMissionId')
self.assertEquals(tm.missions[0]['statusCode'], 12)
self.assertEquals(tm.missions[0]['taskId'], 'crob-wait')
self.assertEquals(tm.missions[0]['statusDescription'], 'Mission Failed! Task crob-wait Failed: Skill Action Client Error: Timed out (2s) while trying to find Action Server WaitSkill')
def test_mix_between_correct_and_incorrect_skills(self):
skills = ROSInterface.get_ROS_param(self.skillsParamName)
task1 = GenericSkill(skillName = 'example-skill', skillType = 'GenericSkill', skillClass = 'GenericSkill', allowedSkillPropertiesKeys = ['exampleSkillProperty0', 'exampleSkillProperty0'], skillProperties = {'exampleSkillProperty0': 'exampleSkillValue0', 'exampleSkillProperty1': 'exampleSkillValue1'})
task2 = GenericSkill(skillName = 'crob-wait', skillType = 'WaitSkill', skillClass = 'GenericSkill', allowedSkillPropertiesKeys = ['waitTime'], skillProperties = {'waitTime': 5})
tm = TaskManager(robotId = 'testRobotId', skills = skills, waitForServerTimeOut = 2)
tm.ongoingTasks = [task1, task2, task1]
result = tm.execute_mission('fakeMissionId')
self.assertEquals(tm.missions[0]['statusCode'], 12)
self.assertEquals(tm.missions[0]['taskId'], 'crob-wait')
self.assertEquals(tm.missions[0]['statusDescription'], 'Mission Failed! Task crob-wait Failed: Skill Action Client Error: Timed out (2s) while trying to find Action Server WaitSkill')
