def setUp(self, mock_gazebo):
self.m_ziputil = MockUtil.fakeit(
self,
'hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.ZipUtil')
self.mock_gazebo = mock_gazebo
self.m_sim_util = MockUtil.fakeit(
self,
'hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.SimUtil')
self.m_sim_util.find_file_in_paths.return_value = '/a/robot/under/the/rainbow/model.sdf'
self.m_simconf = MagicMock()
self.m_simconf.sim_id = 123
self.m_simconf.token = 123
self.m_simconf.experiment_id = 'experiment'
self.m_simconf.timeout = 'YYYY-MM-DD-HH:MM:SS'
self.m_simconf.timeout_type = 'real'
self.m_simconf.sim_dir = '/my/experiment'
self.m_simconf.gzserver_host = 'local'
self.m_simconf.ros_notificator = 'real'
self.m_simconf.world_model.resource_path.abs_path = '/my/experiment/world.sdf'
self.m_simconf.brain_model.is_custom = False
self.m_simconf.brain_model.resource_path.rel_path = 'brain.sdf'
self.m_simconf.brain_model.resource_path.abs_path = '/my/experiment/brain.sdf'
# alternate set is_custom in individual test
self.m_simconf.brain_model.zip_path.rel_path = 'brains/brain.zip'
self.m_simconf.brain_model.zip_path.abs_path = '/my/experiment/brains/brain.sdf'
self.m_simconf.robot_models = {
'bb8':
Robot('bb8', '/my/experiment/bb8/model.sdf', 'my bb8', Mock(),
False, 'my/roslauch/path', 'modelname'),
'r2d2':
Robot('r2d2', '/my/experiment/r2d2/model.zip', 'my r2d2', Mock(),
True, '/my/experiment/ros.launch', 'modelname')
}
self.m_simconf.retina_config = 'retina_configuration'
self.m_simconf.ext_robot_controller = 'xyz.model'
self.m_simconf.ros_launch_abs_path = '/my/experiment/ros.launch'
self.patch_cleserver = patch(
"hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.ROSCLEServer"
)
self.mocked_cleserver = self.patch_cleserver.start()
#self.mocked_cleserver._robotHandler.download_custom_robot.return_value = "somewhere/over/the/rainbow"
self.mocked_cleserver.return_value._robotHandler.prepare_custom_robot.return_value = (
True, '/my/experiment/r2d2/model.sdf')
self.patch_robotManager = patch(
"hbp_nrp_cleserver.server.GazeboSimulationAssembly.RobotManager")
self.mocked_robotManager = self.patch_robotManager.start()
self.mocked_robotManager.return_value.scene_handler.return_value.parse_gazebo_world_file.return_value = {}, {}
with patch(
"hbp_nrp_cleserver.server.GazeboSimulationAssembly.rospy"
), patch("hbp_nrp_cleserver.server.GazeboSimulationAssembly.rosnode"):
self.launcher = CLEGazeboSimulationAssembly(self.m_simconf)
def setUp(self):
# mock os
self.m_os = MockUtil.fakeit(self, _base_path + 'os')
# restore os.path.join and os.path.dirname
self.m_os.path.join = os.path.join
self.m_os.path.dirname = os.path.dirname
self.m_settings = MockUtil.fakeit(self, _base_path + 'Settings')
self.m_shutil = MockUtil.fakeit(self, _base_path + 'shutil')
self.m_tempfile = MockUtil.fakeit(self, _base_path + 'tempfile')
def setUp(self):
# mock os
self.m_os = MockUtil.fakeit(self, _base_path + 'os')
# restore os.path.join and os.path.dirname
self.m_os.path.join = os.path.join
self.m_os.path.dirname = os.path.dirname
self.m_os.environ = {
'HOME': '/home/dir',
'HBP': '/hbp/dir',
'NRP_SIMULATION_DIR': '/sim/dir',
'NRP_MODELS_DIRECTORY': '/models/dir'
}
def setUp(self):
# Mock all external imported modules
self.m_os = MockUtil.fakeit(self, _base_ + 'os')
self.m_storage = MockUtil.fakeit(self, _base_ + 'StorageClient')
self.m_ziputil = MockUtil.fakeit(self, _base_ + 'ZipUtil')
# Prepare dummy data for the instance
self.simulation = Mock()
self.simulation.sim_id = 42
self.simulation.experiment_conf = "ExDXMLExample.xml"
self.simulation.experiment_id = 'my_awesome_exp'
self.simulation.state_machines = []
self.simulation.playback_path = "a/path/to/some.zip"
self.simulation.private = None
# Mock the base cass of PlaybackSimulationLifecycle
self.m_base = MockUtil.fake_base(self, PlaybackSimulationLifecycle)
self.m_base.simulation.return_value = self.simulation
self.playback_lifecycle = PlaybackSimulationLifecycle(self.simulation)
def setUp(self):
self.m_ziputil = MockUtil.fakeit(
self,
'hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.ZipUtil')
self.m_simconf = MagicMock()
self.m_simconf.sim_id = 123
self.m_simconf.token = 123
self.m_simconf.experiment_id = 'experiment'
self.m_simconf.timeout = 'YYYY-MM-DD-HH:MM:SS'
self.m_simconf.timeout_type = 'real'
self.m_simconf.sim_dir = '/my/experiment'
self.m_simconf.gzserver_host = 'local'
self.m_simconf.ros_notificator = 'real'
self.m_simconf.world_model.resource_path.abs_path = '/my/experiment/world.sdf'
self.m_simconf.brain_model.is_custom = False
self.m_simconf.brain_model.resource_path.rel_path = 'brain.sdf'
self.m_simconf.brain_model.resource_path.abs_path = '/my/experiment/brain.sdf'
# alternate set is_custom in individual test
self.m_simconf.brain_model.zip_path.rel_path = 'brains/brain.zip'
self.m_simconf.brain_model.zip_path.abs_path = '/my/experiment/brains/brain.sdf'
self.m_simconf.robot_models = {
'bb8':
Robot(rid='bb8',
sdf_abs_path='/my/experiment/bb8/model.sdf',
display_name='my bb8',
is_custom=False,
pose=Mock(),
roslaunch_abs_path='/my/experiment/ros.launch',
model='model_name'),
'r2d2':
Robot(rid='r2d2',
sdf_abs_path='/my/experiment/bb8/model.sdf',
display_name='my r2d2',
pose=Mock(),
is_custom=True,
roslaunch_abs_path='/my/experiment/ros.launch',
model='model_name')
}
self.m_simconf.retina_config = 'retina_configuration'
self.m_simconf.ext_robot_controller = 'xyz.model'
with patch(
"hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.StorageClient"
):
self.launcher = SynchronousNestSimulation(self.m_simconf)
def setUp(self):
self.simulation = Mock()
self.simulation.sim_id = 42
self.simulation.experiment_conf = "ExDXMLExample.xml"
self.simulation.experiment_id = None
self.simulation.state_machines = []
self.simulation.playback_path = None
self.simulation.private = True
caller_id = patch("hbp_nrp_commons.simulation_lifecycle.get_caller_id", return_value="test_client")
caller_id.start()
self.addCleanup(caller_id.stop)
self.rospy_mock = MockUtil.fakeit(self, _base_path + 'rospy')
self.cle_factory_mock = MockUtil.fakeit(self, _base_path + 'ROSCLEClient')
self.storage_mock = MockUtil.fakeit(self, _base_path + 'StorageClient')
self.zip_util = MockUtil.fakeit(self, _base_path + 'ZipUtil')
self.mocked_os = MockUtil.fakeit(self, _base_path + 'os')
self.exp_mocked = MockUtil.fakeit(self, _base_path + 'exp_conf_api_gen')
self.factory_mock = MockUtil.fakeit(self, _base_path + 'ROSCLESimulationFactoryClient')
self.playback_mock = MockUtil.fakeit(self, 'hbp_nrp_backend.cle_interface.PlaybackClient.PlaybackClient')
self.storage_mock.get_model.return_value = None
self.storage_mock.get_model_path.return_value = None
self.zip_util.extractall.return_value = None
self.mocked_os.path.join.return_value = "/some/tmp/dir/"
self.mocked_os.path.exists.return_value = True
self.mocked_os.path.makedirs.return_value = None
self.exp_mocked.CreateFromDocument.return_value.timeout.value.return_value = 1
with patch("hbp_nrp_commons.simulation_lifecycle.Publisher"):
with patch("hbp_nrp_commons.simulation_lifecycle.Subscriber"):
self.lifecycle = BackendSimulationLifecycle(self.simulation)
self.lifecycle.experiment_path = PATH
self.assertEqual(None, self.lifecycle.sim_dir)
def setUp(self):
# mock os
self.m_os = MockUtil.fakeit(self, _base_path + 'os')
# restore os.path.join and os.path.dirname
self.m_os.path.join = os.path.join
self.m_os.path.dirname = os.path.dirname
self.m_robot = MockUtil.fakeit(self, _base_path + 'Robot')
self.m_exc_parser = MockUtil.fakeit(self, _base_path + 'exc_parser')
self.m_bibi_parser = MockUtil.fakeit(self, _base_path + 'bibi_parser')
self.m_sconf_util = MockUtil.fakeit(self, _base_path + 'SimConfUtil')
self.m_gentf = MockUtil.fakeit(self, _base_path + 'generate_tf')
self.m_gettfname = MockUtil.fakeit(self, _base_path + 'get_tf_name')
self.m_exc = MagicMock()
self.m_exc_parser.CreateFromDocument.return_value = self.m_exc
self.m_bibi = MagicMock()
self.m_bibi_parser.CreateFromDocument.return_value = self.m_bibi