def start_n1_situation(self, predicate, subject_name):
description = predicate+"("+subject_name+")"
sit = Situation(desc=description)
sit.starttime = time.time()
self.current_situations_map[description] = sit
self.ros_pub["situation_log"].publish("START " + description)
self.target.timeline.update(sit)
return sit.id
def test_situation_manipulations(self):
s1 = Situation()
s2 = Situation()
self.assertEqual(len(self.timeline),0)
self.timeline.append(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),1)
self.assertIn(s1, self.timeline)
self.assertEqual(self.timeline[0].endtime, 0)
s1.endtime = 1
self.timeline.update(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),1)
self.assertEqual(self.timeline[0].endtime, 1)
self.timeline.update(s2) # alias for append
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),2)
self.assertIn(s2, self.timeline)
self.timeline.update(s2) # shouldn't do anything, as s2 is already present
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),2)
s1.endtime = 2
s2.endtime = 3
self.timeline.update(s1)
self.timeline.update(s2)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),2)
self.assertEqual(self.timeline[s1.id].endtime, 2)
self.assertEqual(self.timeline[s2.id].endtime, 3)
self.timeline.remove(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),1)
self.assertEqual(self.timeline[0].id, s2.id)
self.timeline.remove(s2)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline),0)
def start_predicate(self, timeline, predicate, subject_name, object_name=None, isevent=False):
if object_name is None:
description = predicate + "(" + subject_name + ")"
else:
description = predicate + "(" + subject_name + "," + object_name + ")"
sit = Situation(desc=description)
sit.starttime = time.time()
if isevent:
sit.endtime = sit.starttime
self.current_situations_map[description] = sit
self.log_pub[predicate].publish("START " + description)
timeline.update(sit)
return sit.id
def start(self):
""" Starts (and return) a new situation
This method sends the new situation to the
remote. IT DOES NOT DIRECTLY modify the local
copy of situations: the roundtrip is slower, but data
consistency is easier to ensure.
Note that the situation starting time is set by the client, at the time
at which this method is called.
"""
situation = Situation()
situation.starttime = time.time()
self.update(situation)
return situation
def start(self):
""" Starts (and return) a new situation
This method sends the new situation to the
remote. IT DOES NOT DIRECTLY modify the local
copy of situations: the roundtrip is slower, but data
consistency is easier to ensure.
Note that the situation starting time is set by the client, at the time
at which this method is called.
"""
situation = Situation()
situation.starttime = time.time()
self.update(situation)
return situation
def _test_events_start_stop(self):
t = self.timeline
s = Situation()
t.start(s)
self.assertEquals(len(t.activesituations), 1)
self.assertIn(s, t.activesituations)
t.end(s)
self.assertEquals(len(t.activesituations), 0)
# can not call .event() with a situation
with self.assertRaises(TypeError):
t.event(s)
e = Event()
t.end(e) # should do nothing at all
t.start(e) # events end immediately
self.assertEquals(len(t.activesituations), 0)
t.event(e) # for events, should be synonym with 't.start'
self.assertEquals(len(t.activesituations), 0)
def test_events_base(self):
s = Situation()
self.timeline.start(s)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertIn(s, self.timeline.situations)
self.assertIn(s, self.timeline.activesituations)
self.timeline.end(s)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertIn(s, self.timeline.situations)
self.assertNotIn(s, self.timeline.activesituations)
s = createevent()
self.timeline.start(s)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertIn(s, self.timeline.situations)
self.assertNotIn(s, self.timeline.activesituations)
self.timeline.end(s)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertIn(s, self.timeline.situations)
self.assertNotIn(s, self.timeline.activesituations)
def test_situation_manipulations(self):
s1 = Situation()
s2 = Situation()
self.assertEqual(len(self.timeline), 0)
self.timeline.append(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 1)
self.assertIn(s1, self.timeline)
self.assertEqual(self.timeline[0].endtime, 0)
s1.endtime = 1
self.timeline.update(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 1)
self.assertEqual(self.timeline[0].endtime, 1)
self.timeline.update(s2) # alias for append
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 2)
self.assertIn(s2, self.timeline)
self.timeline.update(
s2) # shouldn't do anything, as s2 is already present
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 2)
s1.endtime = 2
s2.endtime = 3
self.timeline.update(s1)
self.timeline.update(s2)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 2)
self.assertEqual(self.timeline[s1.id].endtime, 2)
self.assertEqual(self.timeline[s2.id].endtime, 3)
self.timeline.remove(s1)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 1)
self.assertEqual(self.timeline[0].id, s2.id)
self.timeline.remove(s2)
time.sleep(PROPAGATION_TIME) # wait for propagation
self.assertEqual(len(self.timeline), 0)
def _get_situation_from_remote(self, id):
sitInCtxt = gRPC.SituationInContext(context=self._server_ctx,
situation=gRPC.Situation(id=id))
try:
gRPCSituation = self._ctx.rpc.getSituation(sitInCtxt, _TIMEOUT_SECONDS)
except AbortionError as e:
raise IndexError(e.details)
# is it a new situation, or rather an update to an existing one?
if id not in self._ids:
self._ids.append(id)
self._situations[id] = Situation.deserialize(gRPCSituation)
def _get_situation_from_remote(self, id):
sitInCtxt = gRPC.SituationInContext(context=self._server_ctx,
situation=gRPC.Situation(id=id))
try:
gRPCSituation = self._ctx.rpc.getSituation(sitInCtxt,
_TIMEOUT_SECONDS)
except AbortionError as e:
raise IndexError(e.details)
# is it a new situation, or rather an update to an existing one?
if id not in self._ids:
self._ids.append(id)
self._situations[id] = Situation.deserialize(gRPCSituation)
def start_hold_fact(self, node, gripper):
sit = Situation(desc="hold(%s,%s)" %
(gripper.name, node.name)).isevent()
self.situations["hold(%s,%s)" % (gripper.name, node.name)] = sit
self.target.timeline.update(sit)
def send_release_event(self, node, gripper):
sit = Situation(desc="release(%s,%s)" %
(gripper.name, node.name)).isevent()
self.target.timeline.update(sit)
#! /usr/bin/env python
import sys
import time
import underworlds
from underworlds.types import Situation, createevent
if len(sys.argv) != 2:
print("Usage: %s <world>" % __file__)
sys.exit(1)
with underworlds.Context("provider") as ctx:
world = ctx.worlds[sys.argv[1]]
timeline = world.timeline
s1 = Situation()
s2 = Situation()
s3 = Situation()
timeline.start(s1)
time.sleep(0.2)
timeline.start(s2)
timeline.event(s3)
time.sleep(0.2)
timeline.end(s2)
time.sleep(0.5)
timeline.end(s1)