def test_signal_and(mocker):
sig = s("mysig")
conjunct = s("sig1") & s("sig2")
disjunct = s("sig1") | s("sig2")
with mocker.patch('ravestate.constraint.Conjunct.__init__',
return_value=None):
_ = sig & sig
Conjunct.__init__.assert_called_once_with(sig, sig)
with mocker.patch('ravestate.constraint.Conjunct.__init__',
return_value=None):
with mocker.patch('ravestate.constraint.Conjunct.__iter__',
return_value=iter([1])):
_ = sig & conjunct
Conjunct.__init__.assert_called_once_with(sig, 1)
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch('ravestate.constraint.Conjunct.__init__',
return_value=None):
with mocker.patch.object(disjunct,
'_conjunctions',
return_value={}):
_ = sig & disjunct
Disjunct.__init__.assert_called_with()
def test_signal(activation_fixture):
sig = s("mysig")
assert not sig.evaluate()
assert set(sig.signals()) == {s("mysig")}
sig.acquire(Spike(sig="notmysig"), activation_fixture)
assert not sig.evaluate()
sig.acquire(Spike(sig="mysig"), activation_fixture)
assert sig.evaluate()
sig_and_dis = s("sig") & (s("dis") | s("junct"))
assert not sig_and_dis.evaluate()
sig_and_dis.acquire(Spike(sig="sig"), activation_fixture)
assert not sig_and_dis.evaluate()
sig_and_dis.acquire(Spike(sig="junct"), activation_fixture)
assert sig_and_dis.evaluate()
expected = [(sig, sig.spike)]
return_value = list(sig.dereference())
assert expected == return_value
sig.spike = Spike(sig='mysig')
sig.spike._age = 200
return_value = list(sig.update(activation_fixture))
assert return_value == [sig]
assert str(sig) == "mysig"
def test_flag_property(context_mock):
prop_base = PropertyBase(name="flag_prop", is_flag_property=True)
prop_base.set_parent_path(DEFAULT_MODULE_NAME)
prop_wrapper = PropertyWrapper(prop=prop_base,
ctx=context_mock,
allow_read=True,
allow_write=True)
assert (prop_base._lock.locked())
prop_wrapper.set(True)
assert (prop_wrapper.get() is True)
context_mock.emit.assert_any_call(s(f"{prop_wrapper.prop.id()}:changed"),
parents=None,
wipe=True)
context_mock.emit.assert_any_call(s(f"{prop_wrapper.prop.id()}:true"),
parents=None,
wipe=True)
context_mock.emit.reset_mock()
prop_wrapper.set(False)
assert (prop_wrapper.get() is False)
context_mock.emit.assert_any_call(s(f"{prop_wrapper.prop.id()}:changed"),
parents=None,
wipe=True)
context_mock.emit.assert_any_call(s(f"{prop_wrapper.prop.id()}:false"),
parents=None,
wipe=True)
context_mock.emit.reset_mock()
prop_wrapper.set(None)
assert (prop_wrapper.get() is None)
context_mock.emit.assert_called_once_with(
s(f"{prop_wrapper.prop.id()}:changed"), parents=None, wipe=True)
def state_signal_d_fixture(mocker):
@state(signal_name="d", cond=s("module:b") | s("module:c"))
def state_mock_c_fn(ctx):
pass
state_mock_c_fn.module_name = DEFAULT_MODULE_NAME
return state_mock_c_fn
def test_decorator_illegal_trigger(under_test, default_signal, default_read,
default_write, default_action):
with pytest.raises(ValueError):
@state(signal_name=default_signal,
read=default_read,
write=default_write,
cond=(s("rawio:in:changed") | s("facerec:face:changed")) &
(s("sys:has-internet") | s("foo:poo")))
def test_state(_):
return "Hello world!"
def test_disjunct_or(mocker):
disjunct = (s("sig1") & s("sig2")) | s("sig3")
with mocker.patch('ravestate.constraint.Disjunct.__iter__',
return_value=iter([1])):
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
conjunct = s("sig1") & s("sig2")
_ = disjunct | conjunct
Disjunct.__init__.assert_called_with(1, conjunct)
with mocker.patch('ravestate.constraint.Disjunct.__iter__',
return_value=iter([1])):
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
signal = s("sig1")
with mocker.patch('ravestate.constraint.Conjunct.__init__',
return_value=None):
_ = disjunct | signal
Conjunct.__init__.assert_called_once_with(signal)
Disjunct.__init__.assert_called_once()
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch('ravestate.constraint.Disjunct.__iter__',
return_value=iter([1])):
disjunct2 = s("sig1") | s("sig2")
_ = disjunct | disjunct2
Disjunct.__init__.assert_called_with(1)
def shutdown(self) -> None:
"""
Sets the shutdown flag and waits for the signal processing thread to join.
"""
self._shutdown_flag.set()
self.emit(s(":shutdown"))
self._run_task.join()
def startup(**kwargs) -> Signal:
"""
Obtain the startup signal, which is fired once when `Context.run()` is executed.<br>
__Hint:__ All key-word arguments of #constraint.s(...)
(`min_age`, `max_age`, `detached`) are supported.
"""
return s(":startup", **kwargs)
def shutdown(**kwargs) -> Signal:
"""
Obtain the shutdown signal, which is fired once when `Context.shutdown()` is called.<br>
__Hint:__ All key-word arguments of #constraint.s(...)
(`min_age`, `max_age`, `detached`) are supported.
"""
return s(":shutdown", **kwargs)
def state_signal_b_fixture(mocker):
@state(signal_name="b", cond=s("module:a"))
def state_mock_b_fn(ctx):
pass
state_mock_b_fn.module_name = DEFAULT_MODULE_NAME
return state_mock_b_fn
def test_signal_or(mocker):
sig = s("mysig")
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
conjunct = s("sig1") & s("sig2")
with mocker.patch('ravestate.constraint.Conjunct.__init__',
return_value=None):
_ = sig | conjunct
Conjunct.__init__.assert_called_once_with(sig)
Disjunct.__init__.assert_called_once()
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch('ravestate.constraint.Disjunct.__iter__',
return_value=iter([1])):
disjunct = s("sig1") | s("sig2")
_ = sig | disjunct
Disjunct.__init__.assert_called_with(sig, 1)
def popped(property_name, **kwargs) -> Signal:
"""
Returns the `popped` Signal for the given property. This signal
is emitted, when a child property removed from it.
From the perspective of a state, this can be achieved
with the `ContextWrapper.pop(...)` function.<br>
__Hint:__ All key-word arguments of #constraint.s(...)
(`min_age`, `max_age`, `detached`) are supported.
"""
return s(f"{property_name}:popped", **kwargs)
def changed(property_name, **kwargs) -> Signal:
"""
Returns the `changed` Signal for the given property.
This signal is emitted, when the Property is written to,
and the new property value is different from the old one,
or the propertie's `always_signal_changed` flag is True.<br>
__Hint:__ All key-word arguments of #constraint.s(...)
(`min_age`, `max_age`, `detached`) are supported.
"""
return s(f"{property_name}:changed", **kwargs)
def run(self) -> None:
"""
Creates a signal processing thread, starts it, and emits the :startup signal.
"""
if self._run_task:
logger.error("Attempt to start context twice!")
return
self._run_task = Thread(target=self._run_loop)
self._run_task.start()
self.emit(s(":startup"))
def test_property_write(under_test_read_write: PropertyWrapper,
default_property_base, context_mock):
# Make sure that writing to writable wrapper is effective
assert (default_property_base._lock.locked())
under_test_read_write.set(NEW_PROPERTY_VALUE)
assert (under_test_read_write.get() == NEW_PROPERTY_VALUE)
context_mock.emit.assert_called_once_with(
s(f"{under_test_read_write.prop.id()}:changed"),
parents=None,
wipe=True)
def __init__(self, *,
signal_name: Optional[str],
write: Union[str, Tuple[str]],
read: Union[str, Tuple[str]],
cond: Constraint,
action,
is_receptor: bool=False,
emit_detached: bool=False,
weight: float=1.,
cooldown: float=0.):
assert(callable(action))
self.name = action.__name__
self.consumable = Consumable(f"@{action.__name__}")
# check to recognize states using old signal implementation
if isinstance(cond, str):
logger.error(f"Attempt to create state {self.name} which has a string as condition, not a constraint!")
cond = None
# catch the insane case
if not len(read) and not cond and not is_receptor:
logger.warning(
f"The state `{self.name}` is not reading any properties, nor waiting for any signals. " +
"It will never be activated!")
# convert read/write properties to tuples
if isinstance(write, str):
write = (write,)
if isinstance(read, str):
read = (read,)
# listen to default changed-signals if no signals are given.
# convert triggers to disjunctive normal form.
if not cond and len(read) > 0:
cond = Disjunct(*list(Conjunct(s(f"{rprop_name}:changed")) for rprop_name in read))
self.signal_name = signal_name
self.write_props = write
self.read_props = read
self.constraint = cond
self.completed_constraint = cond
self.action = action
self.module_name = ""
self.signal_object = None
self.emit_detached = emit_detached
self.activated = Semaphore(0)
self.weight = self.current_weight = weight
self.cooldown = cooldown
self.lock = Lock()
# add state to module in current `with Module(...)` clause
module_under_construction = getattr(ravestate_thread_local, 'module_under_construction', None)
if module_under_construction:
module_under_construction.add(self)
def test_disjunct_and(mocker):
sig = s("mysig")
conjunct = s("sig1") & s("sig2")
disjunct = s("sig1") | s("sig2")
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch.object(disjunct, '_conjunctions', return_value={}):
_ = disjunct & sig
Disjunct.__init__.assert_called_once_with()
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch.object(disjunct, '_conjunctions', return_value={}):
_ = disjunct & conjunct
Disjunct.__init__.assert_called_once_with()
with pytest.raises(ValueError):
with LogCapture(attributes=strip_prefix) as log_capture:
_ = disjunct & disjunct
log_capture.check("Can't conjunct two disjunctions.")
def test_disjunct(activation_fixture):
disjunct = (s("sig1") & s("sig2")) | s("sig3")
assert not disjunct.evaluate()
assert set(disjunct.signals()) == {s("sig1"), s("sig2"), s("sig3")}
disjunct.acquire(Spike(sig="sig1"), activation_fixture)
assert not disjunct.evaluate()
disjunct.acquire(Spike(sig="sig3"), activation_fixture)
assert disjunct.evaluate()
def test_conjunct_or(mocker):
conjunct = s("sig1") & s("sig2") & s("sig3")
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
conjunct2 = s("sig1") & s("sig2")
_ = conjunct | conjunct2
Disjunct.__init__.assert_called_once_with(conjunct, conjunct2)
with mocker.patch('ravestate.constraint.Disjunct.__init__',
return_value=None):
with mocker.patch('ravestate.constraint.Disjunct.__iter__',
return_value=iter([1])):
disjunct = s("sig1") | s("sig2")
_ = conjunct | disjunct
Disjunct.__init__.assert_called_with(conjunct, 1)
def test_conjunct(activation_fixture):
conjunct = s("sig1") & s("sig2") & s("sig3")
assert not conjunct.evaluate()
assert set(conjunct.signals()) == {s("sig1"), s("sig2"), s("sig3")}
conjunct.acquire(Spike(sig="sig1"), activation_fixture)
assert not conjunct.evaluate()
conjunct.acquire(Spike(sig="sig2"), activation_fixture)
assert not conjunct.evaluate()
conjunct.acquire(Spike(sig="sig2"), activation_fixture)
assert not conjunct.evaluate()
conjunct.acquire(Spike(sig="sig3"), activation_fixture)
assert conjunct.evaluate()
ROS2_AVAILABLE = True
try:
import rclpy
except ImportError:
logger.error(
"Could not import rclpy. Please make sure to have ROS2 installed.")
ROS2_AVAILABLE = False
NODE_NAME_CONFIG_KEY = "ros2-node-name"
SPIN_FREQUENCY_CONFIG_KEY = "ros2-spin-frequency"
global_prop_set = set()
@state(cond=s(":startup"))
def sync_ros_properties(ctx: ContextWrapper):
"""
State that creates a ROS2-Node, registers all Ros2SubProperties and Ros2PubProperties in ROS2 and keeps them synced
"""
# check for ROS2 availability
if not ROS2_AVAILABLE:
logger.error(
"ROS2 is not available, therefore all ROS2-Properties "
"will be just normal properties without connection to ROS2!")
return Delete()
# get config stuff
node_name = ctx.conf(key=NODE_NAME_CONFIG_KEY)
if not node_name:
logger.error(
default_value="",
always_signal_changed=True,
allow_pop=False,
allow_push=False),
roboy = PropertyBase(name="roboy",
default_value="",
always_signal_changed=True,
allow_pop=False,
allow_push=False),
yesno = PropertyBase(name="yesno",
default_value="",
always_signal_changed=True,
allow_pop=False,
allow_push=False)
@state(cond=s("rawio:in:changed"),
read="rawio:in",
write=("nlp:tokens", "nlp:postags", "nlp:lemmas", "nlp:tags",
"nlp:ner", "nlp:triples", "nlp:roboy", "nlp:yesno"))
def nlp_preprocess(ctx):
text = ctx["rawio:in"]
if not text:
return False
nlp_doc = nlp(text)
nlp_tokens = tuple(str(token) for token in nlp_doc)
ctx["nlp:tokens"] = nlp_tokens
logger.info(f"[NLP:tokens]: {nlp_tokens}")
nlp_postags = tuple(str(token.pos_) for token in nlp_doc)
ctx["nlp:postags"] = nlp_postags
def _run_once(self, seconds_passed=1.):
with self._lock:
# ---------- Update weights wrt/ cooldown for all states -----------
for state in self._activations_per_state:
state.update_weight(seconds_passed)
# ----------- For every state, compress it's activations -----------
for st, acts in self._activations_per_state.items():
assert len(acts) > 0
if len(acts) > 1:
# We could do some fancy merge of partially fulfilled activations,
# but for now let's just remove all completely unfulfilled
# ones apart from one.
allowed_unfulfilled: Activation = None
for act in acts.copy():
if not act.spiky():
if allowed_unfulfilled:
for signal in act.constraint.signals():
if signal in self._act_per_state_per_signal_age and \
act in self._act_per_state_per_signal_age[signal][0][act.state_to_activate]:
self._act_per_state_per_signal_age[
signal][0][act.state_to_activate].remove(act)
acts.remove(act)
else:
allowed_unfulfilled = act
# --------- Acquire new state activations for every spike ----------
for spike in self._spikes:
if spike.is_wiped():
continue
for state, acts in self._act_per_state_per_signal_age[s(spike.name())][spike.age()].items():
old_acts = acts.copy()
for act in old_acts:
if act.acquire(spike):
# Remove the Activation instance from _act_per_state_per_signal_age
# for the Spike with a certain minimum age. In place of the removed
# activation, if no activation with the same target state is left,
# a new Activation will be created.
acts.remove(act)
if len(acts) == 0:
self._new_state_activation(state)
else:
logger.error(
"An activation rejected a spike it was registered to be interested in.")
# ------------------ Update all state activations. -----------------
for act in self._state_activations():
if act.update():
self._activations_per_state[act.state_to_activate].discard(act)
# ----------------- Forget fully unreferenced spikes ---------------
old_spike_set = self._spikes.copy()
for spike in old_spike_set:
with spike.causal_group() as cg:
if cg.stale(spike):
# This should lead to the deletion of the spike
self._spikes.remove(spike)
spike.wipe(already_wiped_in_causal_group=True)
logger.debug(f"{cg}.stale({spike})->Y")
# ----------------- Increment age on active spikes -----------------
for spike in self._spikes:
spike.tick()
# -------------------- Force garbage collect -----------------------
gc.collect()
self._update_core_properties(False)
from ravestate.constraint import ConfigurableAge
from ravestate.constraint import s
from ravestate.wrappers import ContextWrapper
from ravestate.state import state, Emit
from reggol import get_logger
logger = get_logger(__name__)
IMPATIENCE_THRESHOLD_CONFIG_KEY = "impatience_threshold"
CONFIG = {
# duration in seconds how long ":pressure" should be true before getting impatient
IMPATIENCE_THRESHOLD_CONFIG_KEY: 1.0
}
with Module(name="idle", config=CONFIG):
@state(read=":activity", signal_name="bored")
def am_i_bored(ctx: ContextWrapper):
"""
Emits idle:bored signal if no states are currently partially fulfilled
"""
if ctx[":activity"] == 0:
return Emit(wipe=True)
@state(cond=s(signal_name=":pressure:true",
min_age=ConfigurableAge(key=IMPATIENCE_THRESHOLD_CONFIG_KEY),
max_age=-1.),
signal_name="impatient")
def am_i_impatient(ctx: ContextWrapper):
return Emit(wipe=True)
from ravestate.state import state
from ravestate.module import Module
from ravestate.constraint import s
from roboy_parlai import wildtalk
import ravestate_rawio
with Module(name="wildtalk"):
@state(cond=s("rawio:in:changed", max_age=-1),
read="rawio:in",
write="rawio:out")
def wildtalk_state(ctx):
text = ctx["rawio:in"]
if not text: # make sure that text is not empty
text = " "
ctx["rawio:out"] = wildtalk(text)
def default_signal():
return s("test-signal")
from ravestate_verbaliser.verbaliser import get_phrase_list
import ravestate_phrases_basic_en
import ravestate_ontology
from scientio.ontology.node import Node
from scientio.session import Session
from scientio.ontology.ontology import Ontology
from reggol import get_logger
logger = get_logger(__name__)
DEFAULT_INTERLOC_ID = "terminal_user"
with Module(name="consoleio"):
@state(cond=s(":startup"), read="interloc:all")
def console_input(ctx: ContextWrapper):
@receptor(ctx_wrap=ctx, write="rawio:in")
def write_console_input(ctx_input, value: str):
ctx_input["rawio:in"] = value
@receptor(ctx_wrap=ctx, write="interloc:all")
def push_console_interloc(ctx: ContextWrapper, console_node: Node):
if ctx.push(parentpath="interloc:all",
child=PropertyBase(name=DEFAULT_INTERLOC_ID,
default_value=console_node)):
logger.debug(f"Pushed {console_node} to interloc:all")
@receptor(ctx_wrap=ctx, write="interloc:all")
def pop_console_interloc(ctx: ContextWrapper):
if ctx.pop(f"interloc:all:{DEFAULT_INTERLOC_ID}"):
def default_triggers():
return s(":idle")
question = PropertyBase(name="question",
default_value="",
always_signal_changed=True,
allow_pop=False,
allow_push=False,
is_flag_property=True)
wrong_input = PropertyBase(name="wrong_input",
default_value="",
always_signal_changed=True,
allow_pop=False,
allow_push=False,
is_flag_property=True)
@state(cond=s("nlp:intent-play") | s("idle:bored"),
write="rawio:out",
signal_name="initiate-play",
emit_detached=True)
def akinator_play_ask(ctx):
"""
Asks if interlocutor wants to play 20 question / akinator
Triggered when nlp:play property is changed by "i want to play a game" or a similar input
"""
ctx["rawio:out"] = "Do you want to play 20 questions?"
return Emit()
@state(cond=s("nlp:yes-no") &
(s("akinator:initiate-play", max_age=-1)
| s("akinator:initiate_play_again:changed", max_age=-1)),
read="nlp:yesno",
def signal(self) -> Optional[Signal]:
assert self.module_name
if not self._signal and self.signal_name:
self._signal = s(f"{self.module_name}:{self.signal_name}")
return self._signal