def test_clarify_objects__no_proper_answer__returns_wait_for_response_state(
self):
entities = [(EntityType.LOCATION, "blue"),
(EntityType.LOCATION, "cover"),
(EntityType.OBJECT, "next"),
(EntityType.LOCATION, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")]
grounding_return = GroundingReturn()
grounding_return.is_success = True
base_task = Task(name="Dummy name")
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
self.container.ner.get_entities = Mock(return_value=entities)
self.container.grounding.find_object = Mock(
return_value=grounding_return)
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
clarify_objects_state.is_first_run = False
self.container.speak = Mock()
return_state = clarify_objects_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.WaitForResponseState))
def test_clarify_objects__cant_find_no_restart_request_grounding_fail_new_error__returns_clarify_state(
self):
entities = [(EntityType.LOCATION, "blue"),
(EntityType.LOCATION, "cover"),
(EntityType.OBJECT, "next"),
(EntityType.LOCATION, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")]
grounding_return = GroundingReturn()
grounding_return.is_success = False
grounding_return.error_code = GroundingErrorType.ALREADY_KNOWN
self.container.ner.get_entities = Mock(return_value=entities)
self.container.grounding.find_object = Mock(
return_value=grounding_return)
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
clarify_objects_state.error = GroundingErrorType.CANT_FIND
clarify_objects_state.is_first_run = False
self.container.speak = Mock()
return_state = clarify_objects_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.ClarifyObjects))
def test_perform_task__succeeds_to_perform_task__returns_perform_task_state(
self):
grounding_return = GroundingReturn()
grounding_return.is_success = True
grounding_return.object_infos.append("dummy")
self.container.speak = Mock()
self.container.robot.move_out_of_view = Mock()
self.container.camera.get_image = Mock()
self.container.camera.get_depth = Mock()
self.container.grounding.find_object = Mock(
return_value=grounding_return)
self.container.robot.pick_up = Mock(return_value=True)
perform_task_state = dialog_flow.PerformTaskState(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
perform_task_state.state_dict["base_task"] = base_task
perform_task_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = perform_task_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.PerformTaskState))
def test_get_specific_task_from_task__task_is_find__returns_task_with_find(self):
self.db_mock.get_task = Mock(return_value=(1, "find"))
task = Task(name="find")
task.objects_to_execute_on = [ObjectEntity()]
returned = self.task_grounding.get_specific_task_from_task(task)
self.assertEqual(TaskType.FIND, returned.task_info[0].task_type)
def test_add_entities_to_task__objects_in_entity_list__adds_object_to_task(self):
entities = [
(EntityType.COLOUR, "blue"),
(EntityType.OBJECT, "cover")
]
self.ner_mock.get_entities = Mock(return_value=entities)
task = Task("pick")
task.task_type = TaskType.PICK
self.cmd_builder.add_entities_to_task(task, "Dummy sentence")
self.assertEqual("blue cover", task.objects_to_execute_on[0].name)
def handle_custom_task(self, sub_tasks):
tasks = []
for i in range(len(sub_tasks[0])): # task idx
task_id = sub_tasks[0][i]
task_name = sub_tasks[1][i]
db_task = sub_tasks[2][i]
task = Task()
if db_task is not None:
task.name = task_name
task.objects_to_execute_on = db_task.objects_to_execute_on
task.child_tasks = db_task.child_tasks
sub_task_tasks, error = self.task_switch(task_id, task_name, task)
tasks.extend(sub_task_tasks)
return tasks
def test_get_specific_task_from_task__task_has_no_object__returns_error_code_no_object(self):
self.db_mock.get_task = Mock(return_value=(1, "pick up"))
task = Task(name="pick up")
returned = self.task_grounding.get_specific_task_from_task(task)
self.assertFalse(returned.is_success)
self.assertEqual(TaskErrorType.NO_OBJECT, returned.error.error_code)
def test_get_specific_task_from_task__task_is_unknown__returns_error_code_unknown(self):
self.db_mock.get_task = Mock(return_value=(1, None))
task = Task(name="asdasd")
returned = self.task_grounding.get_specific_task_from_task(task)
self.assertFalse(returned.is_success)
self.assertEqual(TaskErrorType.UNKNOWN, returned.error.error_code)
def test_teach_new_task__valid_input__returns_success(self):
self.db_mock.add_task = Mock()
self.db_mock.get_task = Mock()
self.db_mock.get_task.side_effect = [(1, None), (2, None), (3, None)]
self.db_mock.add_sub_task = Mock()
returned = self.task_grounding.teach_new_task("nice task name", [Task("take"), Task("move"), Task("put")], "nice task keyword")
self.assertTrue(returned.is_success)
def test_get_specific_task_from_tasks__task_is_custom_task_without_sub_tasks__returns_error_code_no_sub_tasks(self):
self.db_mock.get_task = Mock(return_value=(1, "clear table"))
self.db_mock.get_sub_tasks = Mock(return_value=None)
task = Task("tidy")
returned = self.task_grounding.get_specific_task_from_task(task)
self.assertFalse(returned.is_success)
self.assertEqual(TaskErrorType.NO_SUBTASKS, returned.error.error_code)
def test_clarify_objects__first_run_cant_find_object__returns_wait_response_state(
self):
clarify_objects_state = dialog_flow.ClarifyObjects(
self.state_dict, self.container)
clarify_objects_state.error = GroundingErrorType.CANT_FIND
self.container.speak = Mock()
base_task = Task(name="Dummy name")
dummy_object = ObjectEntity(name="dummy")
base_task.objects_to_execute_on.append(dummy_object)
base_task.task_type = TaskType.PICK
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
clarify_objects_state.state_dict["base_task"] = base_task
clarify_objects_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = clarify_objects_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.WaitForResponseState))
def test_teach_new_task__contains_unknown_task__returns_unknown_error_code(self):
self.db_mock.add_task = Mock()
self.db_mock.get_task = Mock()
self.db_mock.get_task.side_effect = [(None, None)]
self.db_mock.add_sub_task = Mock()
returned = self.task_grounding.teach_new_task("nice task name", [Task("take"), Task("move"), Task("put")], "nice task keyword")
self.assertFalse(returned.is_success)
self.assertEqual(TaskErrorType.UNKNOWN, returned.error.error_code)
def test_add_entities_to_task__sub_task_in_entity_list__adds_subtask_to_task(self):
entities = [
(EntityType.TASK, "place"),
(EntityType.COLOUR, "blue"),
(EntityType.OBJECT, "cover"),
(EntityType.LOCATION, "next"),
(EntityType.COLOUR, "white"),
(EntityType.OBJECT, "cover"),
(EntityType.LOCATION, "top left corner"),
(EntityType.OBJECT, "table")
]
self.ner_mock.get_entities = Mock(return_value=entities)
task = Task("pick")
task.task_type = TaskType.PICK
self.cmd_builder.add_entities_to_task(task, "Dummy sentence")
self.assertEqual("place", task.child_tasks[0].name)
self.assertEqual("white cover", task.child_tasks[0].objects_to_execute_on[0].spatial_descriptions[0].object_entity.name)
self.assertEqual("top left corner", task.child_tasks[0].objects_to_execute_on[0].spatial_descriptions[1].object_entity.name)
def task_switch(self, task_id, task_name, task: Task):
tasks = []
if task_name is None:
return None, self.unknown_task_error(task.name)
elif task_name == "pick up": # Check the default skills first.
task.task_type = TaskType.PICK
tasks.append(task)
if len(task.objects_to_execute_on) == 0:
error = self.missing_entities_error(task.name)
return tasks, error
elif task_name == "find":
task.task_type = TaskType.FIND
tasks.append(task)
if len(task.objects_to_execute_on) == 0:
error = self.missing_entities_error(task.name)
return tasks, error
elif task_name == "move":
task.task_type = TaskType.MOVE
tasks.append(task)
if len(task.objects_to_execute_on) == 0:
error = self.missing_entities_error(task.name)
return tasks, error
elif task_name == "place":
task.task_type = TaskType.PLACE
tasks.append(task)
if len(task.objects_to_execute_on) == 0:
error = self.missing_entities_error(task.name)
return tasks, error
else:
sub_tasks = self.db.get_sub_tasks(task_id)
if sub_tasks is None:
error = TaskGroundingError()
error.error_task_name = task_name
error.error_code = TaskErrorType.NO_SUBTASKS
return None, error
tasks = self.handle_custom_task(sub_tasks)
return tasks, None
def test_verify_command__no_teach_first_run__returns_wait_response_state(
self):
entities = [(EntityType.LOCATION, "blue"),
(EntityType.LOCATION, "cover"),
(EntityType.OBJECT, "next"),
(EntityType.LOCATION, "black"),
(EntityType.OBJECT, "bottom cover"),
(EntityType.LOCATION, "above"),
(EntityType.OBJECT, "bottom cover")]
task = Task(name="Dummy name")
verify_command_state = dialog_flow.VerifyCommandState(
self.state_dict, self.container)
self.container.speak = Mock()
self.container.ner.get_entities = Mock(return_value=entities)
self.container.command_builder.get_task = Mock(return_value=task)
verify_command_state.state_dict[
"last_received_sentence"] = "Dummy sentence"
return_state = verify_command_state.execute()
self.assertTrue(
isinstance(return_state, dialog_flow.WaitForResponseState))
def test_perform_task__grounding_fails__returns_clarify_objects_state(
self):
grounding_return = GroundingReturn()
grounding_return.is_success = False
self.container.speak = Mock()
self.container.robot.move_out_of_view = Mock()
self.container.camera.get_image = Mock()
self.container.camera.get_depth = Mock()
self.container.grounding.find_object = Mock(
return_value=grounding_return)
perform_task_state = dialog_flow.PerformTaskState(
self.state_dict, self.container)
base_task = Task(name="Dummy name")
base_task.objects_to_execute_on.append("dummy")
task_grounding_return = TaskGroundingReturn()
task_grounding_return.task_info.append(base_task)
perform_task_state.state_dict["base_task"] = base_task
perform_task_state.state_dict[
"task_grounding_return"] = task_grounding_return
return_state = perform_task_state.execute()
self.assertTrue(isinstance(return_state, dialog_flow.ClarifyObjects))
def test_get_specific_task_from_task__task_is_custom_task__returns_list_of_primary_skills(self):
pick_up_task = Task("pick up")
pick_up_task.task_type = TaskType.PICK
pick_up_task.objects_to_execute_on = [ObjectEntity()]
move_task = Task("pick up")
move_task.task_type = TaskType.MOVE
move_task.objects_to_execute_on = [ObjectEntity()]
place_task = Task("pick up")
place_task.task_type = TaskType.PICK
place_task.objects_to_execute_on = [ObjectEntity()]
sub_tasks = [[1, 2, 3], ["pick up", "move", "place"], [pick_up_task, move_task, place_task]]
tasks = [TaskType.PICK, TaskType.MOVE, TaskType.PLACE]
self.db_mock.get_task = Mock(return_value=(1, "clear table"))
self.db_mock.get_sub_tasks = Mock(return_value=sub_tasks)
task = Task("tidy")
returned = self.task_grounding.get_specific_task_from_task(task)
returned_tasks = [returned.task_info[0].task_type,
returned.task_info[1].task_type,
returned.task_info[2].task_type]
self.assertEqual(tasks, returned_tasks)
def test_MoveBlue(self):
tasks = [TaskType.PICK, TaskType.PLACE]
returned = self.task_grounding.get_specific_task_from_task(Task("blue1"))
returned_tasks = [returned.task_info[0].task_type,
returned.task_info[1].task_type]
self.assertEqual(tasks, returned_tasks)
