def __init__(self):
proc.Proc.__init__(self, self.__class__.__name__ + "Script")
self.options = self.get_options()
self.debug = self.Debug()
self.task_name = self.options._task_name
self.auv = control.AUV(self.node)
self.node.subMessage(msg.SetTaskStateMessage())
def __init__(self, opts):
super(TaskManager, self).__init__()
self.node = cauv.node.Node("task_manager")
self.node.subMessage(messaging.AddTaskMessage())
self.node.subMessage(messaging.RemoveTaskMessage())
self.node.subMessage(messaging.SetTaskStateMessage())
self.node.subMessage(messaging.AddConditionMessage())
self.node.subMessage(messaging.RemoveConditionMessage())
self.node.subMessage(messaging.SetConditionStateMessage())
self.node.subMessage(messaging.RequestAIStateMessage())
self.node.subMessage(messaging.ScriptControlMessage())
self.node.subMessage(messaging.AIControlMessage())
self.node.subMessage(messaging.ProcessEndedMessage())
self.node.subMessage(messaging.DetectorFiredMessage())
self.node.subMessage(messaging.ScriptExitMessage())
self.all_paused = not opts.unpaused
self.ai_state = AIState(self)
#Tasks - list of tasks that (in right conditions) should be called
self.tasks = NameDict()
self.conditions = NameDict()
self.detector_fire_timeouts = collections.defaultdict(int)
#currently running task
self.last_available_tasks = []
self.last_active_tasks = []
self.mission_name = opts.mission_name
if opts.mission_save:
self.load_mission(open(opts.mission_save))
self.gui_send_all()
self.node.addObserver(self)
def add_test_condition(self, tm):
tm.onAddConditionMessage.func(msg.AddConditionMessage("State"))
cond_name = tm.node.messages[-1].conditionId
self.assertTrue(cond_name.startswith("State"))
tm.onAddTaskMessage.func(msg.AddTaskMessage("test"))
task_name = tm.node.messages[-1].taskId
self.assertTrue(task_name.startswith("test"))
tm.onSetTaskStateMessage.func(
msg.SetTaskStateMessage(task_name, [cond_name], {}, {}))
condition = tm.conditions[cond_name]
self.assertIn(condition, tm.tasks[task_name].conditions)
return cond_name, task_name
def test_set_task_options(self):
tm = self.get_tm()
tm.onAddTaskMessage.func(msg.AddTaskMessage("test"))
task_state = tm.node.last_msg(msg.TaskStateMessage)
task_name = task_state.taskId
options = task_state.taskOptions
self.assertIn('crash_limit', options)
self.assertIn('priority', options)
options['crash_limit'] = 666
tm.onSetTaskStateMessage.func(
msg.SetTaskStateMessage(task_name, [], options, {}))
self.assertEqual(tm.tasks[task_name].options.crash_limit, 666)
task_state = tm.node.last_msg(msg.TaskStateMessage)
options = BoostMapToDict(task_state.taskOptions)
self.assertEqual(options['crash_limit'], 666)
def test_script(self):
with tp.TempProcessEnv(True) as env:
env.start_process([
os.path.join(test_dir, 'test_script.py'), '--wait_seconds',
'2', '--task-name', 'test'
])
time.sleep(1)
default_opts = test_script.Script.DefaultOptions()
default_opts.succeed = True
default_opts.nest.c = 6434576
opts = default_opts.to_flat_dict()
env.node.send(msg.SetTaskStateMessage("test", [], {}, opts))
time.sleep(1.5)
log = env.get_log('log/test_script.py.log')
self.relevant_log = log
self.assertTrue(tp.grep_log(log, "Script completed successfully"))
self.assertTrue(tp.grep_log(log, "Nested C: 6434576"))
def set_task_conditions(ainode):
task_id = str(raw_input('Enter task id: '))
conditions = input('Enter conditions (as list): ')
ainode.node.send(messaging.SetTaskStateMessage(task_id, conditions, {},
{}))
def set_script_options(ainode):
task_id = str(raw_input('Enter task id: '))
script_options = input('Enter script options (as dict): ')
ainode.node.send(
messaging.SetTaskStateMessage(task_id, [], {}, script_options))
def set_task_options(ainode):
task_id = str(raw_input('Enter task id: '))
task_options = input('Enter task options (as dict): ')
ainode.node.send(
messaging.SetTaskStateMessage(task_id, [], task_options, {}))
p_AIlogMessage.setParseAction(lambda x: messaging.AIlogMessage(*x[0]))
p_AddTaskMessage = pp.Group(l \
+ p_str \
+ r).streamline()
p_AddTaskMessage.setParseAction(lambda x: messaging.AddTaskMessage(*x[0]))
p_RemoveTaskMessage = pp.Group(l \
+ p_str \
+ r).streamline()
p_RemoveTaskMessage.setParseAction(lambda x: messaging.RemoveTaskMessage(*x[0]))
p_SetTaskStateMessage = pp.Group(l \
+ p_str + c \
+ p_stringVec + c \
+ p_stringParamValueMap + c \
+ p_stringParamValueMap \
+ r).streamline()
p_SetTaskStateMessage.setParseAction(lambda x: messaging.SetTaskStateMessage(*x[0]))
p_TaskRemovedMessage = pp.Group(l \
+ p_str \
+ r).streamline()
p_TaskRemovedMessage.setParseAction(lambda x: messaging.TaskRemovedMessage(*x[0]))
p_TaskStateMessage = pp.Group(l \
+ p_str + c \
+ p_stringVec + c \
+ p_stringParamValueMap + c \
+ p_stringParamValueMap + c \
+ p_stringParamValueMap + c \
+ p_bool \
+ r).streamline()
p_TaskStateMessage.setParseAction(lambda x: messaging.TaskStateMessage(*x[0]))
p_ScriptStateMessage = pp.Group(l \
+ p_str + c \