def generate_commands(program,
drone_config_map: Dict[str, DroneConfig] = None,
boundary_checker: BoundaryChecker = None,
collision_checker: CollisionChecker = None,
has_checks: bool = True,
symbol_table: SymbolTable = None,
function_table: FunctionTable = None):
if drone_config_map is None:
drone_config_map = {"DEFAULT": DefaultDroneConfig()}
if boundary_checker is None:
boundary_checker = BoundaryChecker(BoundaryConfig.no_limit())
if collision_checker is None:
collision_checker = CollisionChecker(drone_config_map,
DefaultCollisionConfig())
if symbol_table is None:
symbol_table = SymbolTable()
if function_table is None:
function_table = FunctionTable()
state_updater_map = {
name: StateUpdater(config)
for name, config in drone_config_map.items()
}
tree = _parse_program(program)
drone_commands = Compiler(drone_config_map, symbol_table,
function_table).visit(tree)
if has_checks:
boundary_checker.check(drone_commands, state_updater_map)
collision_checker.check(drone_commands, state_updater_map)
return drone_commands
def test_check_should_call_update_states_and_check_drone_commands_with_correct_parameters(
self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker._update_states_and_check_drone_commands = Mock()
drone_state_map = {"DRONE1": State(), "DRONE2": State(x_meters=1)}
drones_involved = {"DRONE1", "DRONE2"}
boundary_checker.check([], self.state_updater_map)
boundary_checker._update_states_and_check_drone_commands.assert_called_once_with(
[], self.state_updater_map, drone_state_map, drones_involved)
def test_check_parallel_drone_commands_should_check_state_and_catch_error(
self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker.boundary_config.check_state = Mock(
side_effect=SafetyCheckError)
drone_commands = [ParallelDroneCommands([[], []])]
with self.assertRaises(SafetyCheckError) as context:
BoundaryChecker(self.boundary_config).check(
drone_commands, self.state_updater_map)
def test_check_single_drone_command_should_check_state_and_catch_error(
self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker.boundary_config.check_state = Mock(
side_effect=SafetyCheckError)
drone_commands = [
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.land())
]
with self.assertRaises(SafetyCheckError) as context:
BoundaryChecker(self.boundary_config).check(
drone_commands, self.state_updater_map)
def test_check_in_the_end_not_land_should_give_error(self):
with self.assertRaises(SafetyCheckError) as context:
drone_commands = [SingleDroneCommand("DRONE1", Command.takeoff())]
BoundaryChecker(self.boundary_config).check(
drone_commands, self.state_updater_map)
self.assertTrue(
"Drone 'DRONE1' did not land in the end" in str(context.exception))
def test_check_parallel_drone_commands_nested_should_update_states_correctly(
self):
drone_commands = \
[
ParallelDroneCommands([
[SingleDroneCommand("DRONE1", Command.wait(5))],
[SingleDroneCommand("DRONE2", Command.wait(3)),
ParallelDroneCommands([
[SingleDroneCommand("DRONE3", Command.wait(4))],
[SingleDroneCommand("DRONE4", Command.wait(1))]
])]
]),
SingleDroneCommand("DRONE1", Command.wait(1))
]
drones_involved = {"DRONE1", "DRONE2", "DRONE3", "DRONE4", "DRONE5"}
state_updaters = {
name: StateUpdater(DroneConfig((1, 0, 0), 2, 180, 2))
for name in drones_involved
}
drone_state_map = {name: State() for name in drones_involved}
BoundaryChecker(
self.boundary_config)._update_states_and_check_drone_commands(
drone_commands, state_updaters, drone_state_map,
drones_involved)
expected = {
name: State(time_used_seconds=8)
for name in drones_involved
}
self.assertEqual(expected, drone_state_map)
def test_check_single_drone_command_should_check_state(self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker.boundary_config.check_state = Mock()
drone_commands = [
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.land())
]
BoundaryChecker(self.boundary_config).check(drone_commands,
self.state_updater_map)
calls = [
call("DRONE1",
State(has_taken_off=True, time_used_seconds=1, z_meters=1)),
call("DRONE2", State(time_used_seconds=1, x_meters=1)),
call("DRONE1", State(time_used_seconds=2)),
call("DRONE2", State(time_used_seconds=2, x_meters=1))
]
boundary_checker.boundary_config.check_state.assert_has_calls(calls)
def test_check_single_drone_command_wait_when_taken_off_should_not_give_error(
self):
drone_commands = [
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.wait(1)),
SingleDroneCommand("DRONE1", Command.land())
]
BoundaryChecker(self.boundary_config).check(drone_commands,
self.state_updater_map)
def generate_commands_with_config(program, config_json, has_checks):
drone_config_map, boundary_config, collision_config = ConfigParser.parse(
config_json)
boundary_checker = BoundaryChecker(boundary_config)
collision_checker = CollisionChecker(drone_config_map, collision_config)
generated_commands = generate_commands(program, drone_config_map,
boundary_checker, collision_checker,
has_checks)
return generated_commands, drone_config_map, boundary_config
def test_if_given_boundary_checker_should_use_it_to_check_safety(self):
commands = "main() {takeoff(); up(1000); land();}"
with self.assertRaises(SafetyCheckError) as context:
generate_commands(commands,
boundary_checker=BoundaryChecker(
BoundaryConfig(max_seconds=10000,
max_z_meters=1)))
self.assertTrue(
"Drone 'DEFAULT': the z coordinate 1001 will go beyond its upper limit 1"
in str(context.exception))
def test_check_single_drone_command_takeoff_when_taken_off_should_give_error(
self):
with self.assertRaises(SafetyCheckError) as context:
drone_commands = [
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.takeoff())
]
BoundaryChecker(self.boundary_config).check(
drone_commands, self.state_updater_map)
self.assertTrue(
"'takeoff' command used when drone 'DRONE1' has already been taken off"
in str(context.exception))
def test_check_parallel_drone_commands_should_check_state(self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker.boundary_config.check_state = Mock()
drone_commands = [
ParallelDroneCommands(
[[
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.land())
],
[
SingleDroneCommand("DRONE2", Command.takeoff()),
SingleDroneCommand("DRONE2", Command.land())
]])
]
BoundaryChecker(self.boundary_config).check(drone_commands,
self.state_updater_map)
last_two_calls = [
call("DRONE1", State(time_used_seconds=2)),
call("DRONE2", State(time_used_seconds=2, x_meters=1))
]
boundary_checker.boundary_config.check_state.assert_has_calls(
last_two_calls)
def test_check_single_drone_command_should_update_state_correctly(self):
drone_commands = [SingleDroneCommand("DRONE1", Command.takeoff())]
drone_state_map = {"DRONE1": State(), "DRONE2": State(x_meters=1)}
drones_involved = {"DRONE1", "DRONE2"}
BoundaryChecker(
self.boundary_config)._update_states_and_check_drone_commands(
drone_commands, self.state_updater_map, drone_state_map,
drones_involved)
expected = {
"DRONE1": State(has_taken_off=True,
time_used_seconds=1,
z_meters=1),
"DRONE2": State(time_used_seconds=1, x_meters=1)
}
self.assertEqual(expected, drone_state_map)
def test_if_given_state_updater_should_use_it_to_update_state(self):
commands = "main() {takeoff(); land();}"
with self.assertRaises(SafetyCheckError) as context:
generate_commands(commands,
drone_config_map={
"DEFAULT":
DroneConfig(init_position=(0, 0, 0),
speed_mps=1,
rotate_speed_dps=90,
takeoff_height_meters=10)
},
boundary_checker=BoundaryChecker(
BoundaryConfig(max_seconds=10,
max_z_meters=1)))
self.assertTrue(
"Drone 'DEFAULT': the z coordinate 10 will go beyond its upper limit 1"
in str(context.exception))
def test_check_parallel_drone_commands_should_let_drone_not_involved_wait(
self):
drone_commands = [
ParallelDroneCommands(
[[], [SingleDroneCommand("DRONE2", Command.wait(5))]])
]
drone_state_map = {"DRONE1": State(), "DRONE2": State(x_meters=1)}
drones_involved = {"DRONE1", "DRONE2"}
BoundaryChecker(
self.boundary_config)._update_states_and_check_drone_commands(
drone_commands, self.state_updater_map, drone_state_map,
drones_involved)
expected = {
"DRONE1": State(time_used_seconds=5),
"DRONE2": State(time_used_seconds=5, x_meters=1)
}
self.assertEqual(expected, drone_state_map)
def test_check_parallel_drone_commands_should_wait_for_slower_branch(self):
drone_commands = [
ParallelDroneCommands(
[[SingleDroneCommand("DRONE1", Command.takeoff())],
[SingleDroneCommand("DRONE2", Command.wait(5))]])
]
drone_state_map = {"DRONE1": State(), "DRONE2": State(x_meters=1)}
drones_involved = {"DRONE1", "DRONE2"}
BoundaryChecker(
self.boundary_config)._update_states_and_check_drone_commands(
drone_commands, self.state_updater_map, drone_state_map,
drones_involved)
expected = {
"DRONE1": State(has_taken_off=True,
time_used_seconds=5,
z_meters=1),
"DRONE2": State(time_used_seconds=5, x_meters=1)
}
self.assertEqual(expected, drone_state_map)
def test_check_single_drone_command_other_command_when_not_taken_off_should_give_error(
self):
commands = [
Command.land(),
Command.up(1),
Command.down(1),
Command.left(1),
Command.right(1),
Command.forward(1),
Command.backward(1),
Command.rotate_left(90),
Command.rotate_right(90)
]
for command in commands:
with self.assertRaises(SafetyCheckError) as context:
drone_commands = [SingleDroneCommand("DRONE1", command)]
BoundaryChecker(self.boundary_config).check(
drone_commands, self.state_updater_map)
self.assertTrue(
"'{}' command used when drone 'DRONE1' has not been taken off".
format(command.opcode) in str(context.exception))
def test_if_not_given_state_updater_should_use_default_to_update_state(
self):
commands = "main() {takeoff(); land();}"
generate_commands(commands,
boundary_checker=BoundaryChecker(
BoundaryConfig(max_seconds=10, max_z_meters=1)))
