def test_preserve_vars(self):
# note: local variables can only preserved when
# - the function is *not* wrapped
# The variables are created as local variables of the function
# (global c does not work here -- there is no global variable c).
f = Function('a', ['b'],
"try:\n" \
" c = c + 1\n" \
"except:\n"
" c = 0\n" \
"a.v = b.v + c\n",
name="inc", wrap=False)
b = Itom('b', 1)
o = f.execute([b])
self.assertEqual(o['a'].v, 1)
o = f.execute([b])
self.assertEqual(o['a'].v, 2)
def test_execute_with_interval(self):
f = Function('a', ['b', 'c'], "a.v = b.v + c.v", name="add")
b = Itom('b', interval([0.5, 1.5]))
c = Itom('c', interval([1, 3]))
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, interval([1.5, 4.5]))
# mix interval arithmetic with scalars
b = Itom('b', 1)
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, interval([2, 4]))
# timestamps are intervals
code = "a.v = b.v + c.v" + "\n" + "a.t = b.t & c.t"
f = Function('a', ['b', 'c'], code, name="add")
b = Itom('b', 1, interval([0.1, 0.2]))
c = Itom('c', 2, interval([0.15, 0.25]))
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, 3)
self.assertEqual(o['a'].t, interval([0.15, 0.2]))
def test_implementation_multiline(self):
self.__pli.reset()
self.__pli.load("test/test_py-implementation-multiline.pl")
result = self.__pli.evaluate("query(implementation(r1, X)).")
relation, code = self.__pli.parse_implementation(list(result)[0])
self.assertEqual(relation, "r1")
# create function to execute
f = Function('a', 'b', code, name='r1')
itoms = f.execute(Itoms([Itom('b', 1, timestamp=0, variable='b')]))
self.assertEqual(itoms['a'].v, 2)
self.assertEqual(itoms['a'].t, 0)
# execute through substitution
S = self.__get_substitutions("query(substitution(a,S)).")
itoms = Itoms([Itom('b1', 1, timestamp=0, variable='b')])
outputs = self.__execute_substitutions(S, itoms)
s = list(S)[0]
self.assertEqual(outputs[s]['a'].v, 2)
self.assertEqual(outputs[s]['a'].t, 0)
def test_execute(self):
f = Function('a', ['b', 'c'], "a.v = b.v + c.v", name="add")
a = Itom('a', 0)
b = Itom('b', 1)
c = Itom('c', 2)
itoms = Itoms([a, b, c])
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 3)
b.v = 4
c.v = 2
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 6)
a.v = 0
b.v = 5
c.v = 5
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 10)
with self.assertRaises(Exception):
f.execute({a.name: a})
with self.assertRaises(Exception):
f.execute({b.name: b})
# test execution without wrapping the code in a function
f = Function('a', ['b', 'c'],
"a.v = b.v + c.v",
name="add",
wrap=False)
b.v = 1
c.v = 2
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 3)
# function setting timestamp
f = Function('a', ['b', 'c'],
"a.v = b.v + c.v; a.t = max(b.t, c.t)",
name="add")
b.t = 0
c.t = 1
v = f.execute(itoms)
self.assertEqual(v['a'].t, 1)
# test execution with non-Python-identifiers as variables
b = Itom('0b', 1)
c = Itom('1c', 2)
f = Function('a', [b.name, c.name],
"a.v = {}.v + {}.v".format(b.codename, c.codename))
v = f.execute(Itoms([b, c]))
self.assertAlmostEqual(v['a'].v, 3)
# function with lists (e.g., ROS itoms representing point clouds)
sonar = Itom('/p2os/sonar', [1, 3, 4])
f = Function('dmin', [sonar.name],
"dmin.v = min({}.v)".format(sonar.codename))
v = f.execute(Itoms([sonar]))
self.assertAlmostEqual(v['dmin'].v, 1)
