def test_add_same(self):
"""
Try to add two objects with the same ID.
"""
# Instantiate a Leonard.
leo = getLeonard()
# Convenience.
id_1 = '1'
# The number of bodies in Leonard must be zero.
assert len(leo.allBodies) == 0
# Create three bodies.
body_1 = getRigidBody(imass=1)
body_2 = getRigidBody(imass=2)
body_3 = getRigidBody(imass=3)
# The command queue for spawning objects must be empty.
ret = leoAPI.dequeueCommands()
assert ret.ok and (ret.data['spawn'] == [])
# Spawn the first object, then attempt to spawn another with the same
# objID *before* Leonard gets around to add even the first one --> this
# must fail and not add anything.
assert leoAPI.addCmdSpawn([(id_1, body_1)]).ok
assert not leoAPI.addCmdSpawn([(id_1, body_2)]).ok
ret = leoAPI.dequeueCommands()
spawn = ret.data['spawn']
assert ret.ok and (len(spawn) == 1) and (spawn[0]['objID'] == id_1)
# Similar test as before, but this time Leonard has already pulled id_1
# into the simulation *before* we (attempt to) spawn another object
# with the same ID. The 'addSpawnCmd' must succeed because it cannot
# reliably verify if Leonard has an object id_1 (it can only verify if
# another such request is in the queue already -- see above). However,
# Leonard itself must ignore that request. To verify this claim we will
# now spawn a new object with the same id_1 but a different state data,
# let Leonard process the queue, and then verify that it did not
# add/modify the object with id_1.
assert leoAPI.addCmdSpawn([(id_1, body_1)]).ok
leo.processCommandsAndSync()
assert leo.allBodies[id_1] == body_1
# Spawn anoter object with id_1 but different state data and verify
# that Leonard did not modify the original body.
assert leoAPI.addCmdSpawn([(id_1, body_3)]).ok
leo.processCommandsAndSync()
assert leo.allBodies[id_1] == body_1
def test_add_same(self):
"""
Try to add two objects with the same ID.
"""
# Instantiate a Leonard.
leo = getLeonard()
# Convenience.
id_1 = 1
# The number of bodies in Leonard must be zero.
assert len(leo.allBodies) == 0
# Create three bodies.
body_1 = getRigidBody(imass=1)
body_2 = getRigidBody(imass=2)
body_3 = getRigidBody(imass=3)
# The command queue for spawning objects must be empty.
ret = leoAPI.dequeueCommands()
assert ret.ok and (ret.data['spawn'] == [])
# Spawn the first object, then attempt to spawn another with the same
# objID *before* Leonard gets around to add even the first one --> this
# must fail and not add anything.
assert leoAPI.addCmdSpawn([(id_1, body_1)]).ok
assert not leoAPI.addCmdSpawn([(id_1, body_2)]).ok
ret = leoAPI.dequeueCommands()
spawn = ret.data['spawn']
assert ret.ok and (len(spawn) == 1) and (spawn[0]['objID'] == id_1)
# Similar test as before, but this time Leonard has already pulled id_1
# into the simulation *before* we (attempt to) spawn another object
# with the same ID. The 'addSpawnCmd' must succeed because it cannot
# reliably verify if Leonard has an object id_1 (it can only verify if
# another such request is in the queue already -- see above). However,
# Leonard itself must ignore that request. To verify this claim we will
# now spawn a new object with the same id_1 but a different state data,
# let Leonard process the queue, and then verify that it did not
# add/modify the object with id_1.
assert leoAPI.addCmdSpawn([(id_1, body_1)]).ok
leo.processCommandsAndSync()
assert leo.allBodies[id_1] == body_1
# Spawn anoter object with id_1 but different state data and verify
# that Leonard did not modify the original body.
assert leoAPI.addCmdSpawn([(id_1, body_3)]).ok
leo.processCommandsAndSync()
assert leo.allBodies[id_1] == body_1
def test_commandQueue(self):
"""
Add-, query, and remove commands from the command queue.
"""
# Convenience.
body_1 = getRigidBody()
body_2 = {'imass': 2, 'scale': 3}
id_1, id_2 = '0', '1'
# The command queue must be empty for every category.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Spawn two objects with id_1 and id_2.
tmp = [(id_1, body_1), (id_2, body_1)]
assert leoAPI.addCmdSpawn(tmp).ok
# Verify that the spawn commands were added.
ret = leoAPI.dequeueCommands()
assert ret.ok
spawn = ret.data['spawn']
assert {spawn[0]['objID'], spawn[1]['objID']} == {id_1, id_2}
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# De-queuing the commands once more must not return any results because
# they have already been removed.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Modify state variable for body with id_1.
newSV = {'imass': 10, 'position': [3, 4, 5]}
assert leoAPI.addCmdModifyBodyState(id_1, newSV).ok
ret = leoAPI.dequeueCommands()
modify = ret.data['modify']
assert ret.ok and len(modify) == 1
assert modify[0]['objID'] == id_1
assert modify[0]['rbs'] == newSV
del newSV
# Set the direct force and torque for id_2.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdDirectForce(id_2, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['direct_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_2
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Set the booster force and torque for id_1.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdBoosterForce(id_1, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['booster_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_1
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Remove an object.
assert leoAPI.addCmdRemoveObject(id_1).ok
ret = leoAPI.dequeueCommands()
assert ret.ok and ret.data['remove'][0]['objID'] == id_1
# Add commands for two objects (it is perfectly ok to add commands for
# non-existing body IDs since this is just a command queue - Leonard
# will skip commands for non-existing IDs automatically).
force, torque = [7, 8, 9], [10, 11.5, 12.5]
for objID in (id_1, id_2):
assert leoAPI.addCmdSpawn([(objID, body_1)]).ok
assert leoAPI.addCmdModifyBodyState(objID, body_2).ok
assert leoAPI.addCmdRemoveObject(objID).ok
assert leoAPI.addCmdDirectForce(objID, force, torque).ok
assert leoAPI.addCmdBoosterForce(objID, force, torque).ok
# De-queue all commands.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert len(ret.data['spawn']) == 2
assert len(ret.data['remove']) == 2
assert len(ret.data['modify']) == 2
assert len(ret.data['direct_force']) == 2
assert len(ret.data['booster_force']) == 2
def test_commandQueue(self):
"""
Add-, query, and remove commands from the command queue.
"""
# Convenience.
body_1 = getRigidBody()
body_2 = {'imass': 2, 'scale': 3}
id_1, id_2 = 0, 1
# The command queue must be empty for every category.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Spawn two objects with id_1 and id_2.
tmp = [(id_1, body_1), (id_2, body_1)]
assert leoAPI.addCmdSpawn(tmp).ok
# Verify that the spawn commands were added.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'][0]['objID'] == id_1
assert ret.data['spawn'][1]['objID'] == id_2
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# De-queuing the commands once more must not return any results because
# they have already been removed.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Modify state variable for body with id_1.
newSV = {'imass': 10, 'position': [3, 4, 5]}
assert leoAPI.addCmdModifyBodyState(id_1, newSV).ok
ret = leoAPI.dequeueCommands()
modify = ret.data['modify']
assert ret.ok and len(modify) == 1
assert modify[0]['objID'] == id_1
assert modify[0]['rbs'] == newSV
del newSV
# Set the direct force and torque for id_2.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdDirectForce(id_2, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['direct_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_2
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Set the booster force and torque for id_1.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdBoosterForce(id_1, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['booster_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_1
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Remove an object.
assert leoAPI.addCmdRemoveObject(id_1).ok
ret = leoAPI.dequeueCommands()
assert ret.ok and ret.data['remove'][0]['objID'] == id_1
# Add commands for two objects (it is perfectly ok to add commands for
# non-existing body IDs since this is just a command queue - Leonard
# will skip commands for non-existing IDs automatically).
force, torque = [7, 8, 9], [10, 11.5, 12.5]
for objID in (id_1, id_2):
assert leoAPI.addCmdSpawn([(objID, body_1)]).ok
assert leoAPI.addCmdModifyBodyState(objID, body_2).ok
assert leoAPI.addCmdRemoveObject(objID).ok
assert leoAPI.addCmdDirectForce(objID, force, torque).ok
assert leoAPI.addCmdBoosterForce(objID, force, torque).ok
# De-queue all commands.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert len(ret.data['spawn']) == 2
assert len(ret.data['remove']) == 2
assert len(ret.data['modify']) == 2
assert len(ret.data['direct_force']) == 2
assert len(ret.data['booster_force']) == 2
