def _create_goal(self, sensor, effect, goal_name, activator_name):
"""
Generate goals, which made the manager trying to work infinitely on the given effect,
until the network is stopped. Therefore the goal shouldn't reachable (except the goal for boolean effects)
:param sensor: instance of type Sensor
:param effect: instance of type Effect
:param goal_name: unique name for the goal
:return: a goal, which causes the manager to work on the effect during the whole time
"""
if effect.sensor_type == str(bool):
desired_value = True if effect.indicator > 0 else False
activator = BooleanActivator(name=activator_name,
desiredValue=desired_value)
condition = Condition(activator=activator, sensor=sensor)
return OfflineGoal(name=goal_name,
planner_prefix=self.get_manager_prefix(),
permanent=True,
conditions={condition})
if effect.sensor_type == str(int) or effect.sensor_type == str(float):
activator = GreedyActivator(maximize=effect.indicator > 0,
step_size=abs(effect.indicator),
name=activator_name)
condition = Condition(activator=activator, sensor=sensor)
return OfflineGoal(goal_name,
planner_prefix=self.get_manager_prefix(),
permanent=True,
conditions={condition})
raise RuntimeError(
msg='Cant create goal for effect type \'' + effect.sensor_type +
'\'. Overwrite the method _create_goal to handle the type')
def test_activator(self):
method_prefix = self.__message_prefix + "TestOfflineGoal"
planner_prefix = method_prefix + "Manager"
m = Manager(activationThreshold=7, prefix=planner_prefix)
topic_name = 'IncreaseTopicTest/Topic'
sensor = TopicSensor(topic=topic_name, name='IncreaseTopicTestSensor', message_type=Int32,
initial_value=0)
activator = GreedyActivator()
condition = Condition(sensor=sensor, activator=activator)
IncreaserBehavior(topic_name=topic_name, effect_name=sensor.name,
createLogFiles=True, planner_prefix=planner_prefix)
goal = OfflineGoal(name=self.__message_prefix + 'CentralGoal', planner_prefix=planner_prefix)
goal.add_condition(condition)
m.add_goal(goal)
number_of_steps = 15
for x in range(0, number_of_steps + 1 , 1):
m.step()
rospy.sleep(0.1)
# it takes 2 steps until the activation has increased
expected_behaviour_steps = number_of_steps - 2
self.assertEquals(expected_behaviour_steps, sensor.latestValue)
def test_offline_goal(self):
method_prefix = self.__message_prefix + "TestOfflineGoal"
planner_prefix = method_prefix + "/Manager"
m = Manager(activationThreshold=7, prefix=planner_prefix)
topic_name = method_prefix + '/Topic'
sensor = SimpleTopicSensor(topic=topic_name,
message_type=Bool,
initial_value=False)
condition = Condition(sensor, BooleanActivator())
pddl_function_name = condition.getFunctionNames()[0]
SetTrueBehavior(effect_name=pddl_function_name,
topic_name=topic_name,
name=method_prefix + "SetTrue",
plannerPrefix=planner_prefix)
goal = OfflineGoal('CentralGoal', planner_prefix=planner_prefix)
goal.add_condition(condition)
m.add_goal(goal)
for x in range(0, 3, 1):
m.step()
rospy.sleep(0.1)
goal.fetchStatus(3)
self.assertTrue(goal.satisfied, 'Goal is not satisfied')
goal.unregister()
def test_conditions_in_multiple_levels(self):
"""
Testing conditions that are used as well on the highest manager hierarchy level as well as in a sub manager of
a NetworkBehaviour. In particular one conditions is used as precondition, the other one as goal condition.
"""
method_prefix = self.__message_prefix + "/test_conditions_in_multiple_levels"
pre_con_sensor = Sensor(name="Precon_sensor", initial_value=False)
pre_con = Condition(pre_con_sensor, BooleanActivator(desiredValue=True))
topic_name = method_prefix + '/Topic'
sensor = TopicSensor(topic=topic_name, message_type=Int32, initial_value=0)
condition = Condition(sensor, ThresholdActivator(thresholdValue=3))
planner_prefix = method_prefix + "/Manager"
m = Manager(activationThreshold=7, prefix=planner_prefix)
goal = OfflineGoal('CentralGoal', planner_prefix=planner_prefix)
goal.add_condition(condition)
m.add_goal(goal)
effect = Effect(sensor_name=sensor.name, indicator=1, sensor_type=int, activator_name=condition.activator.name)
first_level_network = NetworkBehaviour(name=method_prefix + '/FirstLevel', planner_prefix=planner_prefix,
createLogFiles=True)
first_level_network.add_effects([effect])
first_level_network.add_precondition(pre_con)
goal_with_same_cond = OfflineGoal('CentralGoal2', planner_prefix=planner_prefix)
goal_with_same_cond.add_condition(condition)
first_level_network.add_goal(goal_with_same_cond)
increaser_behavior = IncreaserBehavior(effect_name=sensor.name, topic_name=topic_name,
name=method_prefix + "TopicIncreaser",
planner_prefix=first_level_network.get_manager_prefix())
increaser_behavior.add_precondition(pre_con)
# activate the first_level_network increaser_Behavior
for x in range(0, 3, 1):
self.assertFalse(first_level_network._isExecuting)
m.step()
pre_con_sensor.update(True)
rospy.sleep(0.1)
self.assertTrue(first_level_network._isExecuting)
for x in range(0, 4, 1):
m.step()
rospy.sleep(0.1)
self.assertTrue(increaser_behavior._isExecuting)
def setUpClass(cls):
print("Needs a running roscore")
super(GoalWrapperTest, cls).setUpClass()
rospy.init_node("test_node")
cls.manager = Manager(prefix="Test_manager")
cls.sensor = TopicSensor(name="test_sensor",
topic="/sensor_topic",
message_type=Bool,
initial_value=False)
cls.test_condition = Condition(cls.sensor, BooleanActivator())
cls.comparison_goal = OfflineGoal(name="comparison_goal",
planner_prefix="Test_manager")
cls.manager_name = "Test_manager"
def _create_goal(self, sensor, effect, goal_name):
"""
Generate goals, which made the manager trying to work infinitely on the given effect,
until the network is stopped. Therefore the goal shouldn't reachable (except the goal for boolean effects)
:param sensor: instance of type Sensor
:param effect: instance of type Effect
:param goal_name: unique name for the goal
:return: a goal, which causes the manager to work on the effect during the whole time
:raises RuntimeError: if the creation of a goal for an effect of this
type is not possible
"""
try:
condition = create_condition_from_effect(effect=effect,
sensor=sensor)
return OfflineGoal(name=goal_name,
planner_prefix=self.get_manager_prefix(),
permanent=True,
conditions={condition})
except RuntimeError:
raise RuntimeError(
msg="Can't create goal for effect type '" +
effect.sensor_type +
"'.Overwrite the method _create_goal to handle the type")
def test_multiple_embedded_network_behaviors(self):
"""
Tests the case, that one network behavior is embedded into another network behavior.
The goal requires to receive an int (3) in a topic.
"""
method_prefix = self.__message_prefix + "/test_multiple_embedded_network_behaviors"
topic_name = method_prefix + '/Topic'
sensor = SimpleTopicSensor(topic=topic_name,
message_type=Int32,
initial_value=0)
condition = Condition(sensor, ThresholdActivator(thresholdValue=3))
planner_prefix = method_prefix + "/Manager"
m = Manager(activationThreshold=7, prefix=planner_prefix)
goal = OfflineGoal('CentralGoal', planner_prefix=planner_prefix)
goal.add_condition(condition)
m.add_goal(goal)
effect = Effect(sensor_name=sensor.name,
indicator=1,
sensor_type=int,
activator_name=condition.activator.name)
first_level_network = NetworkBehavior(name=method_prefix +
'/FirstLevel',
plannerPrefix=planner_prefix,
createLogFiles=True)
first_level_network.add_effects_and_goals([(sensor, effect)])
second_level_network = NetworkBehavior(
name=method_prefix + '/SecondLevel',
plannerPrefix=first_level_network.get_manager_prefix(),
createLogFiles=True)
# Doesnt matter, whether the effects are added via the constructor or the add method.
# Both methods are used here, to demonstrate both ways.
second_level_network.add_effects_and_goals([(sensor, effect)])
pddl_function_name = condition.getFunctionNames()[0]
increaser_behavior = IncreaserBehavior(
effect_name=pddl_function_name,
topic_name=topic_name,
name=method_prefix + "TopicIncreaser",
plannerPrefix=second_level_network.get_manager_prefix())
# activate the first_level_network, second_level_network and increaser_Behavior
for x in range(0, 3, 1):
self.assertFalse(first_level_network._isExecuting)
m.step()
rospy.sleep(0.1)
self.assertTrue(first_level_network._isExecuting)
for x in range(0, 3, 1):
self.assertFalse(second_level_network._isExecuting)
first_level_network.do_step()
rospy.sleep(0.1)
self.assertTrue(second_level_network._isExecuting)
for x in range(0, 3, 1):
self.assertFalse(increaser_behavior._isExecuting)
second_level_network.do_step()
rospy.sleep(0.1)
self.assertTrue(increaser_behavior._isExecuting)
# Satisfy goal
for step in range(0, 3, 1):
sensor.sync()
self.assertEqual(step, sensor.value)
second_level_network.do_step()
rospy.sleep(0.1)
goal.fetchStatus(3)
self.assertTrue(goal.satisfied, 'Goal is not satisfied')