def testSingledispatchArgumentToString(self):
def argumentToString_tuple(obj):
return "Dispatching tuple!"
# Unsupport Python2
if "singledispatch" not in dir(functools):
for attr in ("register", "unregister"):
with self.assertRaises(NotImplementedError):
getattr(argumentToString, attr)(
tuple, argumentToString_tuple
)
return
# Prepare input and output
x = (1, 2)
default_output = ic.format(x)
# Register
argumentToString.register(tuple, argumentToString_tuple)
assert tuple in argumentToString.registry
assert str.endswith(ic.format(x), argumentToString_tuple(x))
# Unregister
argumentToString.unregister(tuple)
assert tuple not in argumentToString.registry
assert ic.format(x) == default_output
def testFormat(self):
with disableColoring(), captureStandardStreams() as (out, err):
"""comment"""; noop(); ic( # noqa
'sup'); noop() # noqa
"""comment"""; noop(); s = ic.format( # noqa
'sup'); noop() # noqa
assert s == err.getvalue().rstrip()
def agent_request(self, other_starts_goals, _, action_req):
'''Handle an action request from an agent'''
if self.state is not TransformerIState.WaitAction:
self.log.warning('Ignoring action request; mode is %s', self.state)
return
self.log.info('Received agent request')
self.conflicts_with.clear()
action, start_pose = action_req
self.current_action = action_req
for step in np.arange(Transformer.WORLD_TICK, action.time, Transformer.WORLD_TICK):
pose = start_pose + step * action.vel_vec
pose_array = np.full_like(other_starts_goals, pose)
# Check that the action doesn't conflict with starts/goals
if np.linalg.norm(pose_array - other_starts_goals,
-np.inf) <= Agent.GOAL_THRESHOLD + Agent.RADIUS:
# We come too close to some start or goal; reject
self.log.debug('Agent request conflicts with start or goal; rejecting')
self.agent.queue.put(
Msg(SenderTypes.Transformer, MessageTypes.ActionReject, self.get_id(), action_req))
return
# Check that the action doesn't conflict with known current/potential actions
for (tf_id, transformer) in self.transformers.items():
if test_conflict((action, pose), (ZERO_ACTION, transformer.pose)):
# We'd run into where an agent currently is
self.agent.queue.put(
Msg(SenderTypes.Transformer, MessageTypes.ActionReject, self.get_id(), action_req))
return
if transformer.curr_action:
tf_action, tf_pose = transformer.curr_action
# if transformer.running:
# ticks_elapsed = self.tick_count - transformer.start_tick
# tf_pose += tf_action.vel_vec * ticks_elapsed * Transformer.WORLD_TICK
if test_conflict((action, pose), (tf_action, tf_pose)):
# The action conflicts with a currently executing or approved action
self.conflicts_with.add(tf_id)
self.log.debug('Agent request conflicts with approved action; rejecting')
self.agent.queue.put(
Msg(SenderTypes.Transformer, MessageTypes.ActionReject, self.get_id(), action_req))
return
# We can skip the reverse schedulability check because this is the special case where actions
# are exactly reversible
# Check with the other transformers
self.need_acknowledgement = set(
tf_id for tf_id in self.transformers if not self.transformers[tf_id].at_goal)
if self.need_acknowledgement:
self.log.debug('Sending out for approval')
self.send_to_all(
Msg(SenderTypes.Transformer, MessageTypes.ActionRequest, self.get_id(), action_req))
self.log.debug('Need approval from %s', ic.format(self.need_acknowledgement))
self.state = TransformerIState.WaitAcknowledge
else:
self.start_action()
def do_icecream(self, arg):
"""ic(ecream) expression
Icecream print.
"""
try:
from icecream import ic
val = self._getval(arg)
ic.configureOutput(prefix="🍦 |> ")
self._print(ic.format(arg, val))
except BaseException:
pass