class TestKnowledgeBaseSensor(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(TestKnowledgeBaseSensor, self).__init__(*args, **kwargs)
# prevent influence of previous tests
self.__message_prefix = 'TestKnowledgeBaseSensor' + str(time.time())
rospy.init_node('knowledge_sensor_test_node', log_level=rospy.DEBUG)
self.__client = KnowledgeBaseClient()
def test_basic(self):
"""
Tests sensor output, if the fact is added at runtime (and did not exist before)
"""
sensor = KnowledgeSensor(pattern=((self.__message_prefix, 'test_basic',
'pos', '*', '*')))
sensor.sync()
self.assertFalse(sensor.value)
self.__client.push(
(self.__message_prefix, 'test_basic', 'pos', '42', '0'))
rospy.sleep(0.1)
sensor.sync()
self.assertTrue(sensor.value)
def test_remove(self):
"""
Tests sensor output , if the fact is removed
"""
test_tuple = (self.__message_prefix, 'test_remove', 'pos', '42', '0')
self.__client.push(test_tuple)
rospy.sleep(0.1)
sensor = KnowledgeSensor(pattern=(self.__message_prefix, 'test_remove',
'pos', '*', '*'))
sensor.sync()
self.assertTrue(sensor.value)
rospy.sleep(0.1)
self.__client.pop(test_tuple)
rospy.sleep(0.1)
sensor.sync()
self.assertFalse(sensor.value)
class TestKnowledgeBaseSensor(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(TestKnowledgeBaseSensor, self).__init__(*args, **kwargs)
self.__knowledge_base_address = KnowledgeBase.DEFAULT_NAME + "KnowledgeBaseSensorTestSuite"
# prevent influence of previous tests
self.__message_prefix = 'TestKnowledgeBaseSensor' + str(time.time())
self.start_kb_node()
rospy.init_node('knowledge_sensor_test_node', log_level=rospy.DEBUG)
self.__client = KnowledgeBaseClient(
knowledge_base_name=self.__knowledge_base_address)
def start_kb_node(self):
"""
start the knowledge base node
"""
package = 'knowledge_base'
executable = 'knowledge_base_node.py'
node = roslaunch.core.Node(package=package,
node_type=executable,
name=self.__knowledge_base_address,
output='screen')
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
self._kb_process = launch.launch(node)
rospy.sleep(1)
def test_basic(self):
"""
Tests sensor output, if the fact is added at runtime (and did not exist before)
"""
sensor = KnowledgeSensor(
pattern=(self.__message_prefix, 'test_basic', 'pos', '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
sensor.sync()
self.assertFalse(sensor.value)
update_stamp = sensor._value_cache.update_time
self.__client.push(
(self.__message_prefix, 'test_basic', 'pos', '42', '0'))
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertTrue(sensor.value)
def test_remove(self):
"""
Tests sensor output , if the fact is removed
"""
test_tuple = (self.__message_prefix, 'test_remove', 'pos', '42', '0')
sensor = KnowledgeSensor(
pattern=(self.__message_prefix, 'test_remove', 'pos', '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
update_stamp = sensor._value_cache.update_time
self.__client.push(test_tuple)
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertTrue(sensor.value)
update_stamp = sensor._value_cache.update_time
removed_facts = self.__client.pop(test_tuple)
self.assertIsNotNone(removed_facts, "No fact removed")
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertFalse(sensor.value)
def test_knowledge_fact_int_sensor(self):
"""
Test KnowledgeFactIntSensor
"""
initial_value = 1337
sensor_pattern = (self.__message_prefix,
'test_knowledge_fact_int_sensor', 'number', '*')
sensor = KnowledgeFactNumberSensor(
pattern=sensor_pattern,
initial_value=initial_value,
knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, initial_value)
test_value = 42
update_stamp = sensor._value_cache.update_time
# regular operation
self.__client.push(
(self.__message_prefix, 'test_knowledge_fact_int_sensor', 'number',
str(test_value)))
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, test_value)
update_stamp = sensor._value_cache.update_time
# illegal operation with non integer value
new_tuple = (self.__message_prefix, 'test_knowledge_fact_int_sensor',
'number', "NO_NUMBER")
self.assertEquals(
self.__client.update(pattern=sensor_pattern, new=new_tuple), True)
rospy.sleep(0.1)
while update_stamp > sensor.value_update_time:
rospy.sleep(0.5)
sensor.sync()
rospy.loginfo(sensor.value)
self.assertEquals(sensor.value, initial_value)
def test_knowledge_fact_count_sensor(self):
"""
Test KnowledgeFactCountSensor
"""
initial_value = 0
sensor_pattern = (self.__message_prefix,
'test_knowledge_fact_count_sensor', 'test', '*')
sensor = KnowledgeFactCountSensor(
pattern=sensor_pattern,
knowledge_base_name=self.__knowledge_base_address,
initial_value=initial_value)
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, initial_value)
update_stamp = sensor._value_cache.update_time
# regular operation
self.__client.push((self.__message_prefix,
'test_knowledge_fact_count_sensor', 'test', 'a'))
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, 1)
update_stamp = sensor._value_cache.update_time
# regular operation
self.__client.push((self.__message_prefix,
'test_knowledge_fact_count_sensor', 'test', 'b'))
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, 2)
update_stamp = sensor._value_cache.update_time
# regular operation
self.__client.pop((self.__message_prefix,
'test_knowledge_fact_count_sensor', 'test', 'b'))
rospy.sleep(0.1)
while update_stamp == sensor._value_cache.update_time:
rospy.sleep(0.1)
sensor.sync()
self.assertEquals(sensor.value, 1)
class TupleSpaceTestSuite(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(TupleSpaceTestSuite, self).__init__(*args, **kwargs)
def setUp(self):
# prevent influence of previous tests
self.__message_prefix = 'TupleSpaceTestSuite' + str(time.time())
self.__knowledge_base_address = KnowledgeBase.DEFAULT_NAME
#start KnowledgeBase
package = 'knowledge_base'
executable = 'knowledge_base_node.py'
node = roslaunch.core.Node(package=package,
node_type=executable,
name=self.__knowledge_base_address)
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
self._kb_process = launch.launch(node)
rospy.init_node('TupleSpaceTestSuite', log_level=rospy.DEBUG)
self.__client = KnowledgeBaseClient(self.__knowledge_base_address)
def tearDown(self):
self._kb_process.stop()
def __wait_for_tuple(self, wait_for_it):
"""
waits, until the requested tuple is contained in knowledge_base
:param wait_for_it: tuple
"""
while not self.__client.exists(wait_for_it):
rospy.sleep(0.1)
def __add_multiple_facts(self, *facts):
for t in facts:
self.__client.push(t)
self.__wait_for_tuple(facts[len(facts) - 1])
def __test_list_equality(self, l1, l2):
error_message = 'Excepted "{0}", but is {1}'.format(str(l1), str(l2))
self.assertEqual(len(l1), len(l2))
for i1 in l1:
self.assertTrue(i1 in l2, error_message)
for i2 in l2:
self.assertTrue(i2 in l1, error_message)
def test_exists_for_non_existing(self):
test_tuple = (self.__message_prefix, 'test_exists_for_non_existing',
'0', '0')
self.assertFalse(self.__client.exists(test_tuple))
def test_simple_adding(self):
test_tuple = (self.__message_prefix, 'test_simple_adding', '0', '0')
self.__client.push(test_tuple)
self.assertTrue(self.__client.exists(test_tuple))
def test_peek(self):
test_tuple = (self.__message_prefix, 'test_peek', '0', '0')
self.__client.push(test_tuple)
self.assertEqual(test_tuple, self.__client.peek(test_tuple))
def test_pop(self):
test_tuple = (self.__message_prefix, 'test_pop', '0', '0')
self.__client.push(test_tuple)
self.assertTrue(self.__client.exists(test_tuple))
removed = self.__client.pop(test_tuple)
self.assertEqual(1, len(removed))
self.assertEqual(test_tuple, removed[0])
def test_remove_of_non_existing(self):
tuples = []
tuples.append(
(self.__message_prefix, 'test_remove_of_non_existing', '0', '1'))
tuples.append(
(self.__message_prefix, 'test_remove_of_non_existing', '2', '5'))
self.__add_multiple_facts(*tuples)
self.__check_content(
(self.__message_prefix, 'test_remove_of_non_existing', '*', '*'),
*tuples)
removed = self.__client.pop(
(self.__message_prefix, 'test_remove_of_non_existing', '4', '*'))
self.assertEqual(0, len(removed))
self.__check_content(
(self.__message_prefix, 'test_remove_of_non_existing', '*', '*'),
*tuples)
def test_multiple_pop(self):
uninteresting_content = []
uninteresting_content.append(
(self.__message_prefix, 'test_multiple_pop', 'boring', '1'))
uninteresting_content.append(
(self.__message_prefix, 'test_multiple_pop', 'boring', '5'))
to_remove = []
to_remove.append(
(self.__message_prefix, 'test_multiple_pop', 'interesting', '1'))
to_remove.append(
(self.__message_prefix, 'test_multiple_pop', 'interesting', '5'))
all = []
all.extend(uninteresting_content)
all.extend(to_remove)
self.__add_multiple_facts(*all)
self.__check_content(
(self.__message_prefix, 'test_multiple_pop', '*', '*'),
*tuple(all))
removed = self.__client.pop(
(self.__message_prefix, 'test_multiple_pop', 'interesting', '*'))
self.__test_list_equality(removed, to_remove)
self.__check_content(
(self.__message_prefix, 'test_multiple_pop', '*', '*'),
*tuple(uninteresting_content))
def test_placeholder(self):
test_tuple = (self.__message_prefix, 'test_placeholder', '0', '0')
pattern = (self.__message_prefix, 'test_placeholder', '*', '*')
self.__client.push(test_tuple)
self.assertEqual(test_tuple, self.__client.peek(pattern))
def test_all(self):
"""
test service for find all matching facts
"""
tuples = []
tuples.append((self.__message_prefix, 'test_all', 'pos', '0', '0'))
tuples.append((self.__message_prefix, 'test_all', 'pos', '1', '0'))
tuples.append((self.__message_prefix, 'test_all', 'pos', '1', '-4'))
self.__add_multiple_facts(*tuples)
self.__check_content(
(self.__message_prefix, 'test_all', 'pos', '*', '*'),
*tuple(tuples))
def __check_content(self, pattern, *expected):
"""
ensures, that exact the expected content is contained in the knowledge base
:param pattern: filter for deciding, which contained facts of the kb should used
:param expected: expected content of the kb
"""
knowledge_base_content = self.__client.all(pattern)
self.assertEqual(
len(expected), len(knowledge_base_content), ' Expected: ' +
str(expected) + ' but is ' + str(knowledge_base_content))
for fact in expected:
self.assertTrue(
fact in knowledge_base_content, ' Expected: ' + str(expected) +
' but is ' + str(knowledge_base_content))
def test_prevent_multiple_adding(self):
"""
tests that no duplicates are contained in knowledge base
"""
test_tuple = (self.__message_prefix, 'test_prevent_multiple_adding',
'0', '0')
self.__client.push(test_tuple)
self.__client.push(test_tuple)
service_name = self.__knowledge_base_address + KnowledgeBase.ALL_SERVICE_NAME_POSTFIX
rospy.wait_for_service(service_name)
all_service = rospy.ServiceProxy(service_name, All)
all_response = all_service(test_tuple)
self.assertEqual(1, len(all_response.found))
def __check_mocks_empty(self, update_mocks):
"""
Asserts, that all given mocks has no remaining messages. All expected messages must be removed before method call
:param update_mocks (list of UpdateSubscriberMock)
"""
for update_mock in update_mocks:
self.assertTrue(
len(update_mock.add_msg) == 0,
'Following mock has an unexpected add message received: ' +
update_mock.name)
self.assertTrue(
len(update_mock.remove_msg) == 0,
'Following mock has an unexpected remove message received: ' +
update_mock.name)
self.assertTrue(
len(update_mock.update_msg) == 0,
'Following mock has an unexpected update message received: ' +
update_mock.name)
def test_update_non_existing(self):
"""
Tries to update a fact, which is not in the kb
"""
prefix = self.__message_prefix + '_test_update_non_existing'
new_fact = (prefix, 'new', '1')
not_influenced = (prefix, 'not_influenced', '1')
self.__client.push(not_influenced)
informer_added = UpdateSubscriberMock(mock_name='added',
client=self.__client,
pattern=(prefix, 'new', '*'))
informer_removed = UpdateSubscriberMock(mock_name='removed',
client=self.__client,
pattern=(prefix, 'unsuccess',
'*'))
informer_updated = UpdateSubscriberMock(mock_name='updated',
client=self.__client,
pattern=(prefix, '*', '*'))
informer_not_influenced = UpdateSubscriberMock(
mock_name='not_influended',
client=self.__client,
pattern=(prefix, 'not_influenced', '*'))
all_informers = [
informer_added, informer_removed, informer_updated,
informer_not_influenced
]
self.assertFalse(
self.__client.update((self.__message_prefix, 'unsuccess', '1'),
new_fact,
push_without_existing=False),
'Old fact does not exist, but update was successfull')
rospy.sleep(0.1)
self.__check_mocks_empty(all_informers)
self.__check_content((prefix, '*', '*'), not_influenced)
self.assertTrue(
self.__client.update((self.__message_prefix, 'not_existing', '1'),
new_fact,
push_without_existing=True),
'Old fact does not exists and update was not successfull')
rospy.sleep(0.1)
self.assertEqual(
1, len(informer_added.add_msg),
'Error at receiving add message: ' +
str(len(informer_added.add_msg)))
self.assertEqual(new_fact, tuple(informer_added.add_msg[0].content))
informer_added.add_msg = []
self.assertEqual(
1, len(informer_updated.add_msg),
'Error at receiving add message: ' +
str(len(informer_updated.add_msg)))
self.assertEqual(new_fact, tuple(informer_updated.add_msg[0].content))
informer_updated.add_msg = []
self.__check_mocks_empty(all_informers)
self.__check_content((prefix, '*', '*'), not_influenced, new_fact)
def test_update_basic(self):
"""
Tests simple update of an existing fact
"""
prefix = self.__message_prefix + '_test_update_basic'
old_fact = (prefix, 'old', '2')
new_fact = (prefix, 'new', '1')
not_influenced = (prefix, 'not_influenced', '1')
self.__client.push(old_fact)
self.__client.push(not_influenced)
self.__check_content((prefix, '*', '*'), old_fact, not_influenced)
informer_added = UpdateSubscriberMock(mock_name='added',
client=self.__client,
pattern=(prefix, 'new', '*'))
informer_removed = UpdateSubscriberMock(mock_name='removed',
client=self.__client,
pattern=(prefix, 'old', '*'))
informer_updated = UpdateSubscriberMock(mock_name='updated',
client=self.__client,
pattern=(prefix, '*', '*'))
informer_second_target = UpdateSubscriberMock(
mock_name='seccond',
client=self.__client,
pattern=(prefix, 'seccond_target', '*'))
informer_not_influenced = UpdateSubscriberMock(
mock_name='not_influended',
client=self.__client,
pattern=(prefix, 'not_influenced', '*'))
all_informers = [
informer_added, informer_removed, informer_updated,
informer_second_target, informer_not_influenced
]
self.assertTrue(self.__client.update(old_fact, new_fact),
'First update failed')
rospy.sleep(0.1)
self.assertEqual(
1, len(informer_added.add_msg),
'Error at receiving add message: ' +
str(len(informer_added.add_msg)))
self.assertEqual(new_fact, tuple(informer_added.add_msg[0].content))
informer_added.add_msg = []
self.assertEqual(
1, len(informer_removed.remove_msg),
'Error at receiving remove message: ' +
str(len(informer_removed.remove_msg)))
self.assertEqual(old_fact, tuple(informer_removed.remove_msg[0].fact))
informer_removed.remove_msg = []
self.assertEqual(
1, len(informer_updated.update_msg),
'Error at receiving update message: ' +
str(len(informer_updated.update_msg)))
self.assertEqual(1, len(informer_updated.update_msg[0].removed))
self.assertEqual(
old_fact, tuple(informer_updated.update_msg[0].removed[0].content))
self.assertEqual(new_fact, tuple(informer_updated.update_msg[0].new))
informer_updated.update_msg = []
self.__check_mocks_empty(all_informers)
self.__check_content((prefix, '*', '*'), new_fact, not_influenced)
def test_update_existing_target(self):
"""
Tests update of an existing fact to a fact, which is already contained in the kb
"""
prefix = self.__message_prefix + '_test_update_existing_target'
old_fact = (prefix, 'old', '2')
new_fact = (prefix, 'new', '1')
not_influenced = (prefix, 'not_influenced', '1')
self.__add_multiple_facts(old_fact, new_fact, not_influenced)
self.__check_content((prefix, '*', '*'), old_fact, new_fact,
not_influenced)
informer_added = UpdateSubscriberMock(mock_name='added',
client=self.__client,
pattern=(prefix, 'new', '*'))
informer_removed = UpdateSubscriberMock(mock_name='removed',
client=self.__client,
pattern=(prefix, 'old', '*'))
informer_updated = UpdateSubscriberMock(mock_name='updated',
client=self.__client,
pattern=(prefix, '*', '*'))
informer_second_target = UpdateSubscriberMock(
mock_name='seccond',
client=self.__client,
pattern=(prefix, 'seccond_target', '*'))
informer_not_influenced = UpdateSubscriberMock(
mock_name='not_influended',
client=self.__client,
pattern=(prefix, 'not_influenced', '*'))
all_informers = [
informer_added, informer_removed, informer_updated,
informer_second_target, informer_not_influenced
]
self.assertTrue(self.__client.update(old_fact, new_fact),
'update failed')
rospy.sleep(0.1)
self.assertEqual(
1, len(informer_removed.remove_msg),
'Error at receiving remove message: ' +
str(len(informer_removed.remove_msg)))
self.assertEqual(old_fact, tuple(informer_removed.remove_msg[0].fact))
informer_removed.remove_msg = []
self.assertEqual(
1, len(informer_updated.remove_msg),
'Error at receiving second remove message: ' +
str(len(informer_removed.remove_msg)))
self.assertEqual(old_fact, tuple(informer_updated.remove_msg[0].fact))
informer_updated.remove_msg = []
self.__check_mocks_empty(all_informers)
self.__check_content((prefix, '*', '*'), new_fact, not_influenced)
def test_replace_several_facts(self):
prefix = self.__message_prefix + '_test_replace_several_facts'
old_fact_1 = (prefix, 'old', '2')
old_fact_2 = (prefix, 'old', '3')
not_influenced = (prefix, 'not_influenced', '1')
self.__add_multiple_facts(old_fact_1, old_fact_2, not_influenced)
self.__check_content((prefix, '*', '*'), old_fact_1, old_fact_2,
not_influenced)
new_fact = (prefix, 'new', '1')
informer_added = UpdateSubscriberMock(mock_name='added',
client=self.__client,
pattern=(prefix, 'new', '*'))
informer_removed = UpdateSubscriberMock(mock_name='removed',
client=self.__client,
pattern=(prefix, 'old', '*'))
informer_updated = UpdateSubscriberMock(mock_name='updated',
client=self.__client,
pattern=(prefix, '*', '*'))
informer_not_influenced = UpdateSubscriberMock(
mock_name='not_influended',
client=self.__client,
pattern=(prefix, 'not_influenced', '*'))
all_informers = [
informer_added, informer_removed, informer_updated,
informer_not_influenced
]
self.assertTrue(self.__client.update((prefix, 'old', '*'), new_fact),
'update failed')
rospy.sleep(0.1)
self.__check_content((prefix, '*', '*'), new_fact, not_influenced)
self.assertEqual(
1, len(informer_added.add_msg),
'Error at receiving add message: ' +
str(len(informer_added.add_msg)))
self.assertEqual(new_fact, tuple(informer_added.add_msg[0].content))
informer_added.add_msg = []
self.assertEqual(
2, len(informer_removed.remove_msg),
'Error at receiving remove messages: ' +
str(len(informer_removed.remove_msg)))
removed_facts = [old_fact_1, old_fact_2]
for remove_msg in informer_removed.remove_msg:
self.assertTrue(
tuple(remove_msg.fact) in removed_facts,
str(remove_msg.fact) + ' not in ' + str(removed_facts))
removed_facts.remove(tuple(remove_msg.fact))
informer_removed.remove_msg = []
self.assertEqual(
1, len(informer_updated.update_msg),
'Error at receiving update message: ' +
str(len(informer_updated.update_msg)))
self.assertEqual(tuple(informer_updated.update_msg[0].new), new_fact)
removed_facts = [old_fact_1, old_fact_2]
for removed_fact in informer_updated.update_msg[0].removed:
self.assertTrue(
tuple(removed_fact.content) in removed_facts,
str(tuple(removed_fact.content)) + ' not in ' +
str(removed_facts))
removed_facts.remove(tuple(removed_fact.content))
informer_updated.update_msg = []
self.__check_mocks_empty(all_informers)
class UpdateHandlerTestSuite(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(UpdateHandlerTestSuite, self).__init__(*args, **kwargs)
def setUp(self):
self.__knowledge_base_address = KnowledgeBase.DEFAULT_NAME
# prevent influence of previous tests
self.__message_prefix = 'UpdateHandlerTestSuite' + str(time.time())
# start KnowledgeBase
self.start_kb_node()
rospy.init_node('UpdateHandlerTestSuite', log_level=rospy.DEBUG)
self.__client = KnowledgeBaseClient(self.__knowledge_base_address)
def start_kb_node(self):
"""
start the knowledge base node
"""
package = 'knowledge_base'
executable = 'knowledge_base_node.py'
node = roslaunch.core.Node(package=package,
node_type=executable,
name=self.__knowledge_base_address)
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
self._kb_process = launch.launch(node)
def tearDown(self):
self._kb_process.stop()
def test_simple_adding(self):
"""
Tests basic case of adding a tuple
"""
test_tuple = (self.__message_prefix, 'test_simple_adding', '0', '0')
cache = KnowledgeBaseFactCache(pattern=test_tuple)
self.assertFalse(cache.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache.does_fact_exists(),
'Tuple was added, but is not indicated as present')
def test_remove(self):
test_tuple = (self.__message_prefix, 'test_remove', '0', '0')
cache = KnowledgeBaseFactCache(pattern=test_tuple)
self.assertFalse(cache.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache.does_fact_exists(),
'Tuple was added, but is not indicated as present')
self.__client.pop(test_tuple)
rospy.sleep(0.1)
self.assertFalse(
cache.does_fact_exists(),
'Tuple was removed, but is still indicated as present')
def test_multiple_caches_for_same_pattern(self):
test_tuple = (self.__message_prefix,
'test_multiple_caches_for_same_pattern', '0', '0')
cache1 = KnowledgeBaseFactCache(pattern=test_tuple)
cache2 = KnowledgeBaseFactCache(pattern=test_tuple)
self.assertFalse(cache1.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.assertFalse(cache2.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache1.does_fact_exists(),
'Tuple was added, but is not indicated as present')
self.assertTrue(cache2.does_fact_exists(),
'Tuple was added, but is not indicated as present')
def test_middle_placeholder(self):
"""
Test updating an existing fact
"""
prefix = self.__message_prefix + '_test_middle_placeholder'
first_fact = (prefix, 'updated', 'a', '1')
second_fact = (prefix, 'updated', 'b', '1')
self.__client.push(first_fact)
self.__client.push(second_fact)
cache = KnowledgeBaseFactCache(pattern=(prefix, 'updated', '*', '1'))
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(first_fact in current, 'fact not found')
self.assertTrue(second_fact in current, 'fact not found')
def test_update_existing(self):
"""
Test updating an existing fact
"""
prefix = self.__message_prefix + '_test_update_empty'
updated_old = (prefix, 'updated', '1')
self.__client.push(updated_old)
cache = KnowledgeBaseFactCache(pattern=(prefix, '*', '*'))
updated_new = (prefix, 'updated', '1')
self.__client.update((prefix, '*', '*'), updated_new)
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(1, len(current))
self.assertTrue(updated_new in current, 'Update not noticed')
def test_update(self):
prefix = self.__message_prefix + '_test_update'
updated_old = (prefix, 'updated', '1')
not_influenced = (prefix, 'not_influenced', '1')
self.__client.push(updated_old)
self.__client.push(not_influenced)
cache = KnowledgeBaseFactCache(pattern=(prefix, '*', '*'))
updated_new = (prefix, 'updated', '0')
self.__client.update(updated_old, updated_new)
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(updated_new in current, 'Update not noticed')
self.assertTrue(not_influenced in current,
'NotInfluenced was influenced')
def test_multiple_updates(self):
prefix = self.__message_prefix + '_test_multiple_updates'
updated_old_1 = (prefix, 'fact_1', '1')
updated_old_2 = (prefix, 'fact_2', '2')
self.__client.push(updated_old_1)
self.__client.push(updated_old_2)
cache = KnowledgeBaseFactCache(pattern=(prefix, '*', '*'))
updated_new_1 = (prefix, 'fact_1', '3')
self.__client.update(updated_old_1, updated_new_1)
updated_new_2 = (prefix, 'fact_2', '4')
self.__client.update(updated_old_2, updated_new_2)
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(updated_new_1 in current, 'Update not noticed')
self.assertTrue(updated_new_2 in current, 'Update not noticed')
def __check_content(self, fact_cache, *expected_facts):
content = fact_cache.get_all_matching_facts()
error_message = 'Excepted "{0}", but is {1}'.format(
str(expected_facts), str(content))
self.assertEqual(len(content), len(expected_facts), error_message)
for expected_fact in expected_facts:
self.assertTrue(expected_fact in content, error_message)
for existing_fact in content:
self.assertTrue(existing_fact in expected_facts, error_message)
def test_update_replacing_several_facts(self):
prefix = self.__message_prefix + 'test_update_replacing_several_facts'
updated_old_1 = (prefix, 'toUpdate', '1')
updated_old_2 = (prefix, 'toUpdate', '2')
not_influenced = (prefix, 'not_influenced', '1')
cache = KnowledgeBaseFactCache(pattern=(prefix, '*', '*'))
rospy.sleep(0.1)
self.__client.push(updated_old_1)
self.__client.push(updated_old_2)
self.__client.push(not_influenced)
rospy.sleep(0.1)
self.__check_content(cache, updated_old_1, updated_old_2,
not_influenced)
new_fact = (prefix, 'updated', '3')
self.__client.update((prefix, 'toUpdate', '*'), new_fact)
rospy.sleep(0.1)
self.__check_content(cache, not_influenced, new_fact)
class UpdateHandlerTestSuite(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(UpdateHandlerTestSuite, self).__init__(*args, **kwargs)
def setUp(self):
self.__knowledge_base_address = KnowledgeBase.DEFAULT_NAME + "UpdateHandlerTestSuite"
# prevent influence of previous tests
self.__message_prefix = 'UpdateHandlerTestSuite' + str(time.time())
# start KnowledgeBase
self.start_kb_node()
rospy.init_node('UpdateHandlerTestSuite', log_level=rospy.DEBUG)
self.__client = KnowledgeBaseClient(self.__knowledge_base_address)
def start_kb_node(self):
"""
start the knowledge base node
"""
package = 'knowledge_base'
executable = 'knowledge_base_node.py'
node = roslaunch.core.Node(package=package,
node_type=executable,
name=self.__knowledge_base_address,
output='screen')
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
self._kb_process = launch.launch(node)
def tearDown(self):
self._kb_process.stop()
def test_simple_adding(self):
"""
Tests basic case of adding a tuple
"""
test_tuple = (self.__message_prefix, 'test_simple_adding', '0', '0')
cache = KnowledgeBaseFactCache(
pattern=test_tuple,
knowledge_base_name=self.__knowledge_base_address)
self.assertFalse(cache.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache.does_fact_exists(),
'Tuple was added, but is not indicated as present')
def test_remove(self):
test_tuple = (self.__message_prefix, 'test_remove', '0', '0')
cache = KnowledgeBaseFactCache(
pattern=test_tuple,
knowledge_base_name=self.__knowledge_base_address)
self.assertFalse(cache.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache.does_fact_exists(),
'Tuple was added, but is not indicated as present')
self.__client.pop(test_tuple)
rospy.sleep(0.1)
self.assertFalse(
cache.does_fact_exists(),
'Tuple was removed, but is still indicated as present')
def test_multiple_caches_for_same_pattern(self):
test_tuple = (self.__message_prefix,
'test_multiple_caches_for_same_pattern', '0', '0')
cache1 = KnowledgeBaseFactCache(
pattern=test_tuple,
knowledge_base_name=self.__knowledge_base_address)
cache2 = KnowledgeBaseFactCache(
pattern=test_tuple,
knowledge_base_name=self.__knowledge_base_address)
self.assertFalse(cache1.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.assertFalse(cache2.does_fact_exists(),
'Tuple is not added, but is indicated as present')
self.__client.push(test_tuple)
rospy.sleep(0.1)
self.assertTrue(cache1.does_fact_exists(),
'Tuple was added, but is not indicated as present')
self.assertTrue(cache2.does_fact_exists(),
'Tuple was added, but is not indicated as present')
def test_middle_placeholder(self):
"""
Test updating an existing fact
"""
prefix = self.__message_prefix + '_test_middle_placeholder'
first_fact = (prefix, 'updated', 'a', '1')
second_fact = (prefix, 'updated', 'b', '1')
self.__client.push(first_fact)
self.__client.push(second_fact)
pattern = (prefix, 'updated', '*', '1')
cache = KnowledgeBaseFactCache(
pattern=pattern, knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(first_fact in current, 'fact not found')
self.assertTrue(second_fact in current, 'fact not found')
def test_update_existing(self):
"""
Test updating a fact that is already stored.
"""
prefix = self.__message_prefix + '_test_update_existing'
updated_old = (prefix, 'updated', '1')
self.assertTrue(self.__client.push(updated_old))
rospy.sleep(0.1)
cache = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
updated_new = (prefix, 'updated', '1')
self.assertTrue(self.__client.update((prefix, '*', '*'), updated_new))
rospy.sleep(
0.5
) # don' t wait for updates because we will not get one, as nothing changed
current = cache.get_all_matching_facts()
self.assertEqual(1, len(current))
self.assertTrue(updated_new in current, 'Update corrupted')
def test_update(self):
prefix = self.__message_prefix + '_test_update'
updated_old = (prefix, 'updated', '1')
not_influenced = (prefix, 'not_influenced', '1')
self.__client.push(updated_old)
self.__client.push(not_influenced)
cache = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
update_stamp = cache.update_time
updated_new = (prefix, 'updated', '0')
self.__client.update(updated_old, updated_new)
while update_stamp == cache.update_time:
rospy.sleep(0.5)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(updated_new in current, 'Update not noticed')
self.assertTrue(not_influenced in current,
'NotInfluenced was influenced')
def test_update_non_existing(self):
prefix = self.__message_prefix + 'test_update_non_existing'
updated_not_existing = (prefix, 'updated', '1')
cache = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
update_stamp = cache.update_time
updated_new = (prefix, 'updated', '0')
self.__client.update(updated_not_existing, updated_new)
while update_stamp == cache.update_time:
rospy.sleep(0.5)
current = cache.get_all_matching_facts()
self.assertEqual(1, len(current))
self.assertTrue(updated_new in current, 'Update not noticed')
def test_multiple_updates(self):
prefix = self.__message_prefix + '_test_multiple_updates'
updated_old_1 = (prefix, 'fact_1', '1')
updated_old_2 = (prefix, 'fact_2', '2')
self.__client.push(updated_old_1)
self.__client.push(updated_old_2)
cache = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
updated_new_1 = (prefix, 'fact_1', '1*')
self.__client.update(updated_old_1, updated_new_1)
updated_new_2 = (prefix, 'fact_2', '2*')
update_stamp = cache.update_time
self.__client.update(updated_old_2, updated_new_2)
rospy.sleep(0.5)
while update_stamp == cache.update_time:
rospy.sleep(0.5)
current = cache.get_all_matching_facts()
self.assertEqual(2, len(current))
self.assertTrue(updated_new_1 in current,
'Update of updated_new_1 not noticed')
self.assertTrue(updated_new_2 in current,
'Update of updated_new_2 not noticed')
def test_update_with_partly_matching_patterns(self):
"""
test an update that replaces several existing facts with a single new one or adds a new fact as a result of an
update
"""
prefix = self.__message_prefix + 'test_update_reduction'
updated_old_1 = (prefix, 'fact_1', '1')
updated_old_2 = (prefix, 'fact_2', '1')
self.__client.push(updated_old_1)
self.__client.push(updated_old_2)
cache_all = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
cache_specific_1 = KnowledgeBaseFactCache(
pattern=(prefix, 'fact_1', '*'),
knowledge_base_name=self.__knowledge_base_address)
cache_specific_2 = KnowledgeBaseFactCache(
pattern=(prefix, 'fact_2', '*'),
knowledge_base_name=self.__knowledge_base_address)
cache_specific_3 = KnowledgeBaseFactCache(
pattern=(prefix, 'fact_3', '*'),
knowledge_base_name=self.__knowledge_base_address)
current_all = cache_all.get_all_matching_facts()
current_specific_1 = cache_specific_1.get_all_matching_facts()
current_specific_2 = cache_specific_2.get_all_matching_facts()
current_specific_3 = cache_specific_3.get_all_matching_facts()
self.assertEqual(2, len(current_all))
self.assertEqual(1, len(current_specific_1))
self.assertEqual(1, len(current_specific_2))
self.assertEqual(0, len(current_specific_3))
updated_new = (prefix, 'fact_3', '1')
update_stamp1 = cache_all.update_time
update_stamp2 = cache_specific_1.update_time
update_stamp3 = cache_specific_2.update_time
update_stamp4 = cache_specific_3.update_time
self.__client.update((prefix, '*', '1'), updated_new)
# wait until the caches are updated
rospy.sleep(0.5)
while update_stamp1 == cache_all.update_time or \
update_stamp2 == cache_specific_1.update_time or update_stamp3 == cache_specific_2.update_time \
or update_stamp4 == cache_specific_3.update_time:
rospy.sleep(0.1)
current_all = cache_all.get_all_matching_facts()
current_specific_1 = cache_specific_1.get_all_matching_facts()
current_specific_2 = cache_specific_2.get_all_matching_facts()
current_specific_3 = cache_specific_3.get_all_matching_facts()
self.assertEqual(1, len(current_all))
self.assertEqual(0, len(current_specific_1))
self.assertEqual(0, len(current_specific_2))
self.assertEqual(1, len(current_specific_3))
self.assertTrue(updated_new in current_all,
'Update general cache of not noticed')
self.assertTrue(updated_new not in current_specific_1,
'Delete update in specific cache 1 not noticed')
self.assertTrue(updated_new not in current_specific_2,
'Delete update in specific cache 2 not noticed')
self.assertTrue(updated_new in current_specific_3,
'Add update in specific cache 3 not noticed')
def test_all_pattern_with_update(self):
prefix = self.__message_prefix + '_test_multiple_updates'
updated_old_1 = (prefix, 'fact_1', '1')
self.__client.push(updated_old_1)
all_pattern = ()
cache = KnowledgeBaseFactCache(
pattern=all_pattern,
knowledge_base_name=self.__knowledge_base_address)
update_stamp = cache.update_time
updated_new_1 = (prefix, 'fact_1', '3')
self.__client.update(updated_old_1, updated_new_1)
while update_stamp == cache.update_time:
rospy.sleep(0.1)
current = cache.get_all_matching_facts()
self.assertEqual(1, len(current))
self.assertTrue(updated_new_1 in current, 'Update not noticed')
def __check_content(self, fact_cache, *expected_facts):
content = fact_cache.get_all_matching_facts()
error_message = 'Excepted "{0}", but is {1}'.format(
str(expected_facts), str(content))
self.assertEqual(len(content), len(expected_facts), error_message)
for expected_fact in expected_facts:
self.assertTrue(expected_fact in content, error_message)
for existing_fact in content:
self.assertTrue(existing_fact in expected_facts, error_message)
def test_update_replacing_several_facts(self):
prefix = self.__message_prefix + 'test_update_replacing_several_facts'
updated_old_1 = (prefix, 'toUpdate', '1')
updated_old_2 = (prefix, 'toUpdate', '2')
not_influenced = (prefix, 'not_influenced', '1')
cache = KnowledgeBaseFactCache(
pattern=(prefix, '*', '*'),
knowledge_base_name=self.__knowledge_base_address)
rospy.sleep(0.1)
self.__client.push(updated_old_1)
self.__client.push(updated_old_2)
self.__client.push(not_influenced)
rospy.sleep(0.1)
self.__check_content(cache, updated_old_1, updated_old_2,
not_influenced)
new_fact = (prefix, 'updated', '3')
self.__client.update((prefix, 'toUpdate', '*'), new_fact)
rospy.sleep(0.1)
self.__check_content(cache, not_influenced, new_fact)
def test_mass_updates(self):
"""
Here we test many updates in a short time period
"""
prefix = self.__message_prefix + 'test_mass_updates'
number_of_entries = 500
# fill KB
for i in range(number_of_entries):
updated_old_1 = (prefix, 'fact', str(i))
self.__client.push(updated_old_1)
cache = KnowledgeBaseFactCache(
pattern=(prefix, 'fact_new', '*'),
knowledge_base_name=self.__knowledge_base_address)
current = cache.get_all_matching_facts()
self.assertEqual(0, len(current))
rospy.sleep(0.5)
for i in range(number_of_entries):
updated_old_1 = (prefix, 'fact', str(i))
updated_new_1 = (prefix, 'fact_new', str(i))
last_fact = updated_new_1
self.__client.update(updated_old_1, updated_new_1)
rospy.sleep(0.5)
while last_fact != cache.last_updated_fact:
rospy.sleep(0.5)
current = cache.get_all_matching_facts()
# test if we received all tuples
for i in range(number_of_entries):
updated_new_1 = (prefix, 'fact_new', str(i))
self.assertTrue(
updated_new_1 in current,
'Update of "' + str(updated_new_1) + '" not noticed')
def test_sub_fact_matching(self):
prefix = self.__message_prefix + '_test_multiple_updates'
fact_1 = (prefix, 'fact_1', '1', 'a')
self.__client.push(fact_1)
fact_2 = (prefix, 'fact_2', '2', 'a')
self.__client.push(fact_2)
fact_3 = (prefix, 'fact_3', '3', 'b')
self.__client.push(fact_3)
all_pattern = ()
cache = KnowledgeBaseFactCache(
pattern=all_pattern,
knowledge_base_name=self.__knowledge_base_address)
# initial check to see if we have a correct setup
current = cache.get_all_matching_facts()
self.assertEqual(3, len(current))
sub_fact_pattern = (prefix, 'fact_2', '2', 'a')
does_exist = cache.does_sub_fact_exist(pattern=sub_fact_pattern)
self.assertTrue(does_exist)
first_sub_fact = cache.get_matching_sub_fact(pattern=sub_fact_pattern)
self.assertEqual(first_sub_fact, fact_2)
# test with sub placeholders
sub_fact_pattern = (prefix, '*', '*', 'a')
does_exist = cache.does_sub_fact_exist(pattern=sub_fact_pattern)
self.assertTrue(does_exist)
first_sub_fact = cache.get_matching_sub_fact(pattern=sub_fact_pattern)
self.assertEqual(first_sub_fact, fact_1)
all_sub_facts = cache.get_all_matching_sub_facts(
pattern=sub_fact_pattern)
self.assertEqual(2, len(all_sub_facts))
self.assertTrue(fact_1 in all_sub_facts,
"fact_1 not found in sub facts")
self.assertTrue(fact_2 in all_sub_facts,
"fact_2 not found in sub facts")
# invalid pattern
sub_fact_pattern = (prefix, 'fact_unknown', '2', 'a')
does_exist = cache.does_sub_fact_exist(pattern=sub_fact_pattern)
self.assertFalse(does_exist)