def test_method_callable(self, mock):
tm = TaskManager(skills=self.skill_generator())
tm.ongoingTasks = [Skill()]
tm.execute_mission()
self.assertTrue(mock.called)
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_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_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_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')
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_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_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)
def test_create_object_with_robotId(self):
tm = TaskManager(robotId='testRobotId')
self.assertEquals(tm.robotId, 'testRobotId')
def test_create_object_with_skills(self):
tm = TaskManager(skills=[self.skill_generator()])
self.assertEquals(tm.skills, [self.skill_generator()])
def test_taskStatusTopic_existance(self):
tm = TaskManager(robotId = 'testRobotId', taskStatusTopic = '/stamina_msgs/TaskStatus')
rospy.Subscriber('/stamina_msgs/TaskStatus', TaskStatus, self.testStatusTopicCallback)
def test_provideTaskStatus_service_parser_existance(self):
tm = TaskManager(robotId = 'testRobotId', provideTaskStatusServiceName = 'stamina_msgs/testRobotId/ProvideTaskStatus')
rospy.wait_for_service('stamina_msgs/testRobotId/ProvideTaskStatus', timeout=10)
def test_assignMission_service_parser_existance(self):
tm = TaskManager(robotId = 'testRobotId', assignMissionServiceName = 'stamina_msgs/testRobotId/AssignMission')
rospy.wait_for_service('stamina_msgs/testRobotId/AssignMission', timeout=10)
'~cancel_mission_service_name')
## Topics
taskStatusTopic = '~TaskStatus'
except KeyError as e:
rospy.logerr('[TaskManager] Error: %s', str(e))
rospy.logdebug(traceback.format_exc())
quit()
try:
tm = TaskManager(
robotId=robotId,
skills=skills,
assignMissionServiceName=assignMissionServiceName,
cancelMissionServiceName=cancelMissionServiceName,
provideTaskStatusServiceName=provideTaskStatusServiceName,
taskStatusTopic=taskStatusTopic,
waitForServerTimeOut=waitForServerTimeOut,
waitForActionClientTimeOut=waitForActionClientTimeOut,
missionQueueSize=missionQueueSize)
rospy.spin()
except Exception as e:
rospy.logerr('[TaskManager] Error: %s', str(e))
rospy.logdebug(traceback.format_exc())
quit()
def test_create_empty_object(self):
tm = TaskManager()
def test_create_object_with_waitForActionClientTimeOut(self):
tm = TaskManager(waitForActionClientTimeOut=100)
self.assertEquals(tm.waitForActionClientTimeOut, 100)
def test_create_object_with_waitForServerTimeOut(self):
tm = TaskManager(waitForServerTimeOut=10)
self.assertEquals(tm.waitForServerTimeOut, 10)
