def test_modulators_sensor_actor_connection(test_nodenet, test_world):
nodenet = micropsi.get_nodenet(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet, worldadapter="Braitenberg", world_uid=test_world)
res, s1_id = micropsi.add_node(test_nodenet, "Sensor", [10, 10], None, name="brightness_l", parameters={'datasource': 'brightness_l'})
res, s2_id = micropsi.add_node(test_nodenet, "Sensor", [20, 20], None, name="emo_activation", parameters={'datasource': 'emo_activation'})
res, a1_id = micropsi.add_node(test_nodenet, "Actor", [30, 30], None, name="engine_l", parameters={'datatarget': 'engine_l'})
res, a2_id = micropsi.add_node(test_nodenet, "Actor", [40, 40], None, name="base_importance_of_intention", parameters={'datatarget': 'base_importance_of_intention'})
res, r1_id = micropsi.add_node(test_nodenet, "Register", [10, 30], None, name="r1")
res, r2_id = micropsi.add_node(test_nodenet, "Register", [10, 30], None, name="r2")
s1 = nodenet.get_node(s1_id)
s2 = nodenet.get_node(s2_id)
r1 = nodenet.get_node(r1_id)
r2 = nodenet.get_node(r2_id)
s2.set_gate_parameter('gen', 'maximum', 999)
micropsi.add_link(test_nodenet, r1_id, 'gen', a1_id, 'gen')
micropsi.add_link(test_nodenet, r2_id, 'gen', a2_id, 'gen')
r1.activation = 0.3
r2.activation = 0.7
emo_val = nodenet.get_modulator("emo_activation")
# patch reset method, to check if datatarget was written
def nothing():
pass
nodenet.worldadapter_instance.reset_datatargets = nothing
nodenet.step()
assert round(nodenet.worldadapter_instance.datatargets['engine_l'], 3) == 0.3
assert round(s1.activation, 3) == round(nodenet.worldadapter_instance.get_datasource_value('brightness_l'), 3)
assert round(s2.activation, 3) == round(emo_val, 3)
assert round(nodenet.get_modulator('base_importance_of_intention'), 3) == 0.7
assert round(nodenet.worldadapter_instance.datatargets['engine_l'], 3) == 0.3
emo_val = nodenet.get_modulator("emo_activation")
nodenet.step()
assert round(s2.activation, 3) == round(emo_val, 3)
def test_sensor_actuator_indices(test_nodenet):
nodenet = micropsi.get_nodenet(test_nodenet)
netapi = nodenet.netapi
result, world_uid = micropsi.new_world('default', 'World')
micropsi.set_nodenet_properties(test_nodenet,
worldadapter='Default',
world_uid=world_uid)
sensor = netapi.create_node("Sensor", None, "static_sensor")
sensor.set_parameter("datasource", "static_on")
actor = netapi.create_node("Actor", None, "echo_actor")
actor.set_parameter("datatarget", "echo")
register = netapi.create_node("Register", None, "source")
register.activation = 0.8
netapi.link(register, 'gen', register, 'gen', weight=0.5)
netapi.link(register, 'gen', actor, 'gen')
assert sensor.activation == 0
assert actor.get_gate('gen').activation == 0
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert sensor.activation == 1
assert round(actor.get_gate('gen').activation, 3) == 0.8
netapi.delete_node(sensor)
netapi.delete_node(actor)
assert set(nodenet.rootpartition.actuator_indices) == {0}
assert set(nodenet.rootpartition.sensor_indices) == {0}
def test_node_logic_sensor_datasource(test_nodenet, default_world):
net, netapi, source = prepare(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet, worldadapter="Default", world_uid=default_world)
register = netapi.create_node("Register", None)
netapi.link_sensor(register, "static_on", "gen", weight=0.35)
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert round(register.get_gate("gen").activation, 3) == 0.35
def test_worldadapter_update_config(default_world, default_nodenet):
runtime.set_nodenet_properties(default_nodenet, worldadapter="Default", world_uid=default_world)
runtime.save_nodenet(default_nodenet)
assert runtime.nodenets[default_nodenet].worldadapter_instance.foo == 'bar'
runtime.set_nodenet_properties(default_nodenet, worldadapter="Default", world_uid=default_world, worldadapter_config={'foo': 'changed'})
assert runtime.nodenets[default_nodenet].worldadapter_instance.foo == 'changed'
assert runtime.nodenets[default_nodenet].worldadapter_instance.config['foo'] == 'changed'
assert runtime.worlds[default_world].agents[default_nodenet].foo == 'changed'
def test_worldadapter_update_calls_reset_datatargets(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
world.agents[test_nodenet].reset_datatargets = mock.MagicMock(name='reset')
runtime.step_nodenet(test_nodenet)
world.agents[test_nodenet].reset_datatargets.assert_called_once()
def test_worldadapter_update_calls_reset_datatargets(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = test_world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
world.agents[test_nodenet].reset_datatargets = mock.MagicMock(name='reset')
runtime.step_nodenet(test_nodenet)
world.agents[test_nodenet].reset_datatargets.assert_called_once()
def test_set_agent_properties(test_world, test_nodenet):
world = runtime.worlds[test_world]
runtime.set_nodenet_properties(test_nodenet,
worldadapter='Braitenberg',
world_uid=test_world)
runtime.set_worldagent_properties(test_world,
test_nodenet,
position=(5, 5))
assert world.agents[test_nodenet].position == (5, 5)
assert world.data['agents'][test_nodenet]['position'] == (5, 5)
def test_node_logic_sensor_datasource(test_nodenet, default_world):
net, netapi, source = prepare(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet,
worldadapter="Default",
world_uid=default_world)
register = netapi.create_node("Register", None)
netapi.link_sensor(register, "static_on", "gen", weight=0.35)
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert round(register.get_gate("gen").activation, 3) == 0.35
def test_node_logic_actor_datatarget(test_nodenet, default_world):
net, netapi, source = prepare(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet, worldadapter="Default", world_uid=default_world)
netapi.link_actor(source, "echo", weight=0.5, gate="gen")
register = netapi.create_node("Register", None)
actor = netapi.get_nodes(node_name_prefix="echo")[0]
netapi.link(actor, "gen", register, "gen")
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert round(register.get_gate("gen").activation, 1) == 0.5
def test_get_worldadapters(test_world, test_nodenet):
wa = micropsi.get_worldadapters(test_world)
assert 'Braitenberg' in wa
assert 'description' in wa['Braitenberg']
assert 'datasources' not in wa['Braitenberg']
runtime.set_nodenet_properties(test_nodenet,
worldadapter='Braitenberg',
world_uid=test_world)
wa = micropsi.get_worldadapters(test_world, test_nodenet)
assert wa['Braitenberg']['datatargets'] == ['engine_l', 'engine_r']
assert wa['Braitenberg']['datasources'] == ['brightness_l', 'brightness_r']
def test_reset_datatargets(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
world.agents[test_nodenet].datatargets['engine_r'] = 0.7
world.agents[test_nodenet].datatargets['engine_l'] = 0.2
world.agents[test_nodenet].reset_datatargets()
assert world.agents[test_nodenet].datatargets['engine_l'] == 0
assert world.agents[test_nodenet].datatargets['engine_r'] == 0
def test_agent_dying_unregisters_agent(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = test_world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
assert nodenet.uid in world.agents
mockdead = mock.Mock(return_value=False)
world.agents[nodenet.uid].is_alive = mockdead
world.step()
assert nodenet.uid not in world.agents
def test_reset_datatargets(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = test_world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
world.agents[test_nodenet].datatargets['engine_r'] = 0.7
world.agents[test_nodenet].datatargets['engine_l'] = 0.2
world.agents[test_nodenet].reset_datatargets()
assert world.agents[test_nodenet].datatargets['engine_l'] == 0
assert world.agents[test_nodenet].datatargets['engine_r'] == 0
def test_register_agent(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
assert nodenet.uid not in world.data['agents']
runtime.load_nodenet(test_nodenet)
nodenet.world = world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
assert nodenet.uid in world.data['agents']
assert nodenet.uid in world.agents
runtime.save_world(test_world)
runtime.revert_world(test_world)
assert nodenet.uid in world.data['agents']
assert nodenet.uid in world.agents
def test_node_logic_actor_datatarget(test_nodenet, default_world):
net, netapi, source = prepare(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet,
worldadapter="Default",
world_uid=default_world)
netapi.link_actor(source, "echo", weight=0.5, gate="gen")
register = netapi.create_node("Register", None)
actor = netapi.get_nodes(node_name_prefix="echo")[0]
netapi.link(actor, "gen", register, "gen")
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert round(register.get_gate("gen").activation, 1) == 0.5
def test_register_agent(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
assert nodenet.uid not in world.data['agents']
runtime.load_nodenet(test_nodenet)
nodenet.world = test_world
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
assert nodenet.uid in world.data['agents']
assert nodenet.uid in world.agents
runtime.save_world(test_world)
runtime.revert_world(test_world)
assert nodenet.uid in world.data['agents']
assert nodenet.uid in world.agents
def test_node_netapi_import_sensors(fixed_nodenet, test_world):
# test importing data sources as sensors
net, netapi, source = prepare(fixed_nodenet)
micropsi.set_nodenet_properties(fixed_nodenet, world_uid=test_world, worldadapter='Braitenberg')
root_ns = netapi.get_nodespace(None)
netapi.import_sensors(root_ns.uid)
sensors = netapi.get_nodes(root_ns.uid, nodetype="Sensor")
assert len(sensors) == 2
assert set([s.get_parameter('datasource') for s in sensors]) == set(net.worldadapter_instance.datasources.keys())
# do it again, make sure we can call import multiple times
netapi.import_sensors(root_ns.uid)
sensors = netapi.get_nodes(root_ns.uid, nodetype="Sensor")
assert len(sensors) == 2
def test_node_netapi_import_sensors(fixed_nodenet, test_world):
# test importing data sources as sensors
net, netapi, source = prepare(fixed_nodenet)
micropsi.set_nodenet_properties(fixed_nodenet,
world_uid=test_world,
worldadapter='Braitenberg')
root_ns = netapi.get_nodespace(None)
netapi.import_sensors(root_ns.uid)
sensors = netapi.get_nodes(root_ns.uid, nodetype="Sensor")
assert len(sensors) == 2
assert set([s.get_parameter('datasource') for s in sensors
]) == set(net.worldadapter_instance.datasources.keys())
# do it again, make sure we can call import multiple times
netapi.import_sensors(root_ns.uid)
sensors = netapi.get_nodes(root_ns.uid, nodetype="Sensor")
assert len(sensors) == 2
def test_actuators_do_not_reset_each_others_datatarget(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = test_world
runtime.set_runner_properties(200, 1)
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
actor1 = nodenet.netapi.create_node("Actor", None)
actor2 = nodenet.netapi.create_node("Actor", None)
actor1.set_parameter('datatarget', 'engine_r')
actor2.set_parameter('datatarget', 'engine_r')
reg1 = nodenet.netapi.create_node("Register", None)
reg2 = nodenet.netapi.create_node("Register", None)
nodenet.netapi.link(reg1, 'gen', actor1, 'gen')
nodenet.netapi.link(reg2, 'gen', actor2, 'gen')
reg1.activation = 0.7
reg2.activation = 0.3
mock_reset = mock.Mock(return_value=None)
world.agents[test_nodenet].reset_datatargets = mock_reset
runtime.step_nodenet(test_nodenet)
assert world.agents[test_nodenet].datatargets['engine_r'] == 1
def test_actuators_do_not_reset_each_others_datatarget(test_world, test_nodenet):
world = runtime.worlds[test_world]
nodenet = runtime.get_nodenet(test_nodenet)
runtime.load_nodenet(test_nodenet)
nodenet.world = world
runtime.set_runner_properties(200, 1)
runtime.set_nodenet_properties(nodenet.uid, worldadapter='Braitenberg', world_uid=world.uid)
actor1 = nodenet.netapi.create_node("Actor", "Root")
actor2 = nodenet.netapi.create_node("Actor", "Root")
actor1.set_parameter('datatarget', 'engine_r')
actor2.set_parameter('datatarget', 'engine_r')
reg1 = nodenet.netapi.create_node("Register", "Root")
reg2 = nodenet.netapi.create_node("Register", "Root")
nodenet.netapi.link(reg1, 'gen', actor1, 'gen')
nodenet.netapi.link(reg2, 'gen', actor2, 'gen')
reg1.activation = 0.7
reg2.activation = 0.3
runtime.step_nodenet(test_nodenet)
actor1.node_function()
actor2.node_function()
assert world.agents[test_nodenet].datatargets['engine_r'] == 1
def test_sensor_actuator_indices(test_nodenet):
nodenet = micropsi.get_nodenet(test_nodenet)
netapi = nodenet.netapi
result, world_uid = micropsi.new_world('default', 'World')
micropsi.set_nodenet_properties(test_nodenet, worldadapter='Default', world_uid=world_uid)
sensor = netapi.create_node("Sensor", None, "static_sensor")
sensor.set_parameter("datasource", "static_on")
actor = netapi.create_node("Actor", None, "echo_actor")
actor.set_parameter("datatarget", "echo")
register = netapi.create_node("Register", None, "source")
register.activation = 0.8
netapi.link(register, 'gen', register, 'gen', weight=0.5)
netapi.link(register, 'gen', actor, 'gen')
assert sensor.activation == 0
assert actor.get_gate('gen').activation == 0
micropsi.step_nodenet(test_nodenet)
micropsi.step_nodenet(test_nodenet)
assert sensor.activation == 1
assert round(actor.get_gate('gen').activation, 3) == 0.8
netapi.delete_node(sensor)
netapi.delete_node(actor)
assert set(nodenet.rootpartition.actuator_indices) == {0}
assert set(nodenet.rootpartition.sensor_indices) == {0}
def write_nodenet():
user_id, permissions, token = get_request_data()
params = dict((key, request.forms.getunicode(key)) for key in request.forms)
worldadapter_name = params['nn_worldadapter']
wa_params = {}
device_map = {}
for key in params:
if key.startswith('worldadapter_%s_' % worldadapter_name):
strip = len("worldadapter_%s_" % worldadapter_name)
wa_params[key[strip:]] = params[key]
elif key.startswith('device-map-'):
uid = key[11:]
device_map[uid] = params['device-name-%s' % uid]
if "manage nodenets" in permissions:
if not params.get('nodenet_uid'):
result, nodenet_uid = runtime.new_nodenet(
params['nn_name'],
engine=params['nn_engine'],
worldadapter=params['nn_worldadapter'],
template=params.get('nn_template'),
owner=user_id,
world_uid=params.get('nn_world'),
use_modulators=params.get('nn_modulators', False),
worldadapter_config=wa_params,
device_map=device_map)
if result:
return dict(status="success", msg="Agent created", nodenet_uid=nodenet_uid)
else:
return dict(status="error", msg="Error saving agent: %s" % nodenet_uid)
else:
result = runtime.set_nodenet_properties(
params['nodenet_uid'],
nodenet_name=params['nn_name'],
worldadapter=params['nn_worldadapter'],
world_uid=params['nn_world'],
owner=user_id,
worldadapter_config=wa_params,
device_map=device_map)
if result:
return dict(status="success", msg="Changes saved")
else:
return dict(status="error", msg="Error saving changes!")
return dict(status="error", msg="Insufficient rights to write agent")
def test_modulators_sensor_actor_connection(test_nodenet, test_world):
nodenet = micropsi.get_nodenet(test_nodenet)
micropsi.set_nodenet_properties(test_nodenet,
worldadapter="Braitenberg",
world_uid=test_world)
res, s1_id = micropsi.add_node(test_nodenet,
"Sensor", [10, 10],
None,
name="brightness_l",
parameters={'datasource': 'brightness_l'})
res, s2_id = micropsi.add_node(test_nodenet,
"Sensor", [20, 20],
None,
name="emo_activation",
parameters={'datasource': 'emo_activation'})
res, a1_id = micropsi.add_node(test_nodenet,
"Actor", [30, 30],
None,
name="engine_l",
parameters={'datatarget': 'engine_l'})
res, a2_id = micropsi.add_node(
test_nodenet,
"Actor", [40, 40],
None,
name="base_importance_of_intention",
parameters={'datatarget': 'base_importance_of_intention'})
res, r1_id = micropsi.add_node(test_nodenet,
"Register", [10, 30],
None,
name="r1")
res, r2_id = micropsi.add_node(test_nodenet,
"Register", [10, 30],
None,
name="r2")
s1 = nodenet.get_node(s1_id)
s2 = nodenet.get_node(s2_id)
r1 = nodenet.get_node(r1_id)
r2 = nodenet.get_node(r2_id)
s2.set_gate_parameter('gen', 'maximum', 999)
micropsi.add_link(test_nodenet, r1_id, 'gen', a1_id, 'gen')
micropsi.add_link(test_nodenet, r2_id, 'gen', a2_id, 'gen')
r1.activation = 0.3
r2.activation = 0.7
emo_val = nodenet.get_modulator("emo_activation")
# patch reset method, to check if datatarget was written
def nothing():
pass
nodenet.worldadapter_instance.reset_datatargets = nothing
nodenet.step()
assert round(nodenet.worldadapter_instance.datatargets['engine_l'],
3) == 0.3
assert round(s1.activation, 3) == round(
nodenet.worldadapter_instance.get_datasource_value('brightness_l'), 3)
assert round(s2.activation, 3) == round(emo_val, 3)
assert round(nodenet.get_modulator('base_importance_of_intention'),
3) == 0.7
assert round(nodenet.worldadapter_instance.datatargets['engine_l'],
3) == 0.3
emo_val = nodenet.get_modulator("emo_activation")
nodenet.step()
assert round(s2.activation, 3) == round(emo_val, 3)
def set_nodenet_properties(nodenet_uid, nodenet_name=None, worldadapter=None, world_uid=None, owner=None):
return runtime.set_nodenet_properties(nodenet_uid, nodenet_name=nodenet_name, worldadapter=worldadapter, world_uid=world_uid, owner=owner)
def set_nodenet_properties(nodenet_uid, nodenet_name=None, worldadapter=None, world_uid=None, owner=None, worldadapter_config={}, device_map={}):
""" Set the nodenet's properties. """
return runtime.set_nodenet_properties(nodenet_uid, nodenet_name=nodenet_name, worldadapter=worldadapter, world_uid=world_uid, owner=owner, worldadapter_config=worldadapter_config, device_map=device_map)
def test_set_agent_properties(test_world, test_nodenet):
world = runtime.worlds[test_world]
runtime.set_nodenet_properties(test_nodenet, worldadapter='Braitenberg', world_uid=test_world)
runtime.set_worldagent_properties(test_world, test_nodenet, position=(5, 5))
assert world.agents[test_nodenet].position == (5, 5)
assert world.data['agents'][test_nodenet]['position'] == (5, 5)
