dckit = DCKit()
# Initialize chargers
charger1 = Charger("TopLeftCharger")
charger1.setCoordinates(0, 0, 0)
drone = ARDrone("Drone 1")
drone.charger = charger1
drone.position = charger1.getCoordinates()
drone.target = charger1.getCoordinates()
# drone.hue_range = (70, 100)
time.sleep(1)
dckit.addDrone(drone)
task = Task("Maintask")
subtask1 = TakeoffTask()
sqsize = 130
movements = Task("Move in square")
subtask2 = MovementTask("1", (sqsize, sqsize, 1))
subtask3 = MovementTask("2", (sqsize, -sqsize, 1))
subtask4 = MovementTask("3", (-sqsize, -sqsize, 1))
subtask5 = MovementTask("4", (-sqsize, sqsize, 1))
subtask6 = LandingTask()
task.addSubtask(subtask1)
movements.addSubtask(subtask2)
movements.addSubtask(subtask3)
movements.addSubtask(subtask4)
dckit = DCKit()
# Initialize chargers
charger1 = Charger("TopLeftCharger")
charger1.setCoordinates(0, 0, 0)
drone = ARDrone("Drone 1")
drone.charger = charger1
drone.position = charger1.getCoordinates()
drone.target = charger1.getCoordinates()
# drone.hue_range = (70, 100)
time.sleep(1)
dckit.addDrone(drone)
task = Task("Maintask")
subtask1 = TakeoffTask()
sqsize = 130
movements = Task("Move in square")
subtask2 = MovementTask("1", (sqsize, sqsize, 1))
subtask3 = MovementTask("2", (sqsize, -sqsize, 1))
subtask4 = MovementTask("3", (-sqsize, -sqsize, 1))
subtask5 = MovementTask("4", (-sqsize, sqsize, 1))
subtask6 = LandingTask()
task.addSubtask(subtask1)
movements.addSubtask(subtask2)
movements.addSubtask(subtask3)
movements.addSubtask(subtask4)
def test_evaluate(self):
task = Task("Maintask")
subtask1 = MovementTask("subtask1", (1, 1, 1))
subtask2 = Task("subtask2", (2, 2, 2))
subtask3 = Task("subtask3", (3, 3, 3))
subtask4 = MovementTask("subtask4", (3, 3, 3))
subtask5 = Task("subtask5", (3, 3, 3))
subtask6 = MovementTask("subtask6", (3, 3, 3))
task.addSubtask(subtask1)
subtask2.addSubtask(subtask3)
subtask2.addSubtask(subtask4)
subtask3.addSubtask(subtask5)
subtask5.addSubtask(subtask6)
task.addSubtask(subtask2)
self.dckit.addTask(task)
self.dckit._accumulateCapabilities()
self.assertEqual(task.required_capabilities, set(['move']), "Task capability move")
def compareState(current, expected):
# for i, s in enumerate(expected):
# if current[i] != expected[i]:
# return False
# return True
return all(map(eq, current, expected))
states = [
[ # Before all iterations
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY
], [ # After 1st iteration
TaskState.EXECUTING,
TaskState.EXECUTING,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY
], [ # After 2nd iteration
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY,
TaskState.READY
], [ # After 3rd iteration
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.EXECUTING,
TaskState.EXECUTING,
TaskState.READY,
TaskState.EXECUTING,
TaskState.EXECUTING
], [ # After 4th iteration
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.EXECUTING,
TaskState.EXECUTING,
TaskState.READY,
TaskState.EXECUTING,
TaskState.COMPLETE
], [ # After 5th iteration
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.COMPLETE
], [ # After 6th iteration
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.EXECUTING,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE
], [ # After 7th iteration
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE,
TaskState.COMPLETE
]
]
previous = None
for expected in states:
current = [
task.state,
subtask1.state,
subtask2.state,
subtask3.state,
subtask4.state,
subtask5.state,
subtask6.state
]
previous = current
break_outer = False
i = 0
while True:
current = [
task.state,
subtask1.state,
subtask2.state,
subtask3.state,
subtask4.state,
subtask5.state,
subtask6.state
]
state_changed = not compareState(current, previous)
state_expected = compareState(current, expected)
if state_expected:
break
if state_changed and not state_expected:
logger.info("Previous State: %s", previous)
logger.info("Current State: %s", current)
logger.info("Expected State: %s", expected)
self.fail("Inconsistent state encountered")
break_outer = True
break
self.dckit._iterate(i)
# logging.info("Iteration %u", i)
i += 1
# logging.info("Ran %u iterations", i)
if break_outer:
break
def test_accumulate(self):
task = Task("Maintask")
subtask1 = Task("subtask1", (1, 1, 1))
subtask1.required_capabilities = ["move"]
subtask2 = Task("subtask2", (2, 2, 2))
subtask2.required_capabilities = ["fly"]
subtask3 = Task("subtask3", (3, 3, 3))
subtask3.required_capabilities = ["walk"]
subtask1.addSubtask(subtask2)
task.addSubtask(subtask1)
task.addSubtask(subtask3)
self.dckit.addTask(task)
self.dckit._accumulateCapabilities()
acc = set(["move", "fly", "walk"])
self.assertEqual(task.required_capabilities, acc, "Contains all child required capabilites")
self.assertFalse("walk" in subtask1.required_capabilities, "Subtask 1 does not contain walk")
self.assertFalse("walk" in subtask2.required_capabilities, "Subtask 2 does not contain walk")
self.assertTrue("fly" in subtask1.required_capabilities, "Subtask 1 contains fly")
def test_evaluate(self):
task = Task("Maintask")
subtask1 = MovementTask("subtask1", (1, 1, 1))
subtask2 = Task("subtask2", (2, 2, 2))
subtask3 = Task("subtask3", (3, 3, 3))
subtask4 = MovementTask("subtask4", (3, 3, 3))
subtask5 = Task("subtask5", (3, 3, 3))
subtask6 = MovementTask("subtask6", (3, 3, 3))
task.addSubtask(subtask1)
subtask2.addSubtask(subtask3)
subtask2.addSubtask(subtask4)
subtask3.addSubtask(subtask5)
subtask5.addSubtask(subtask6)
task.addSubtask(subtask2)
self.dckit.addTask(task)
self.dckit._accumulateCapabilities()
self.assertEqual(task.required_capabilities, set(['move']),
"Task capability move")
def compareState(current, expected):
# for i, s in enumerate(expected):
# if current[i] != expected[i]:
# return False
# return True
return all(map(eq, current, expected))
states = [
[ # Before all iterations
TaskState.READY, TaskState.READY, TaskState.READY,
TaskState.READY, TaskState.READY, TaskState.READY,
TaskState.READY
],
[ # After 1st iteration
TaskState.EXECUTING, TaskState.EXECUTING, TaskState.READY,
TaskState.READY, TaskState.READY, TaskState.READY,
TaskState.READY
],
[ # After 2nd iteration
TaskState.EXECUTING, TaskState.COMPLETE, TaskState.READY,
TaskState.READY, TaskState.READY, TaskState.READY,
TaskState.READY
],
[ # After 3rd iteration
TaskState.EXECUTING, TaskState.COMPLETE, TaskState.EXECUTING,
TaskState.EXECUTING, TaskState.READY, TaskState.EXECUTING,
TaskState.EXECUTING
],
[ # After 4th iteration
TaskState.EXECUTING, TaskState.COMPLETE, TaskState.EXECUTING,
TaskState.EXECUTING, TaskState.READY, TaskState.EXECUTING,
TaskState.COMPLETE
],
[ # After 5th iteration
TaskState.EXECUTING, TaskState.COMPLETE, TaskState.EXECUTING,
TaskState.COMPLETE, TaskState.EXECUTING, TaskState.COMPLETE,
TaskState.COMPLETE
],
[ # After 6th iteration
TaskState.EXECUTING, TaskState.COMPLETE, TaskState.EXECUTING,
TaskState.COMPLETE, TaskState.COMPLETE, TaskState.COMPLETE,
TaskState.COMPLETE
],
[ # After 7th iteration
TaskState.COMPLETE, TaskState.COMPLETE, TaskState.COMPLETE,
TaskState.COMPLETE, TaskState.COMPLETE, TaskState.COMPLETE,
TaskState.COMPLETE
]
]
previous = None
for expected in states:
current = [
task.state, subtask1.state, subtask2.state, subtask3.state,
subtask4.state, subtask5.state, subtask6.state
]
previous = current
break_outer = False
i = 0
while True:
current = [
task.state, subtask1.state, subtask2.state, subtask3.state,
subtask4.state, subtask5.state, subtask6.state
]
state_changed = not compareState(current, previous)
state_expected = compareState(current, expected)
if state_expected:
break
if state_changed and not state_expected:
logger.info("Previous State: %s", previous)
logger.info("Current State: %s", current)
logger.info("Expected State: %s", expected)
self.fail("Inconsistent state encountered")
break_outer = True
break
self.dckit._iterate(i)
# logging.info("Iteration %u", i)
i += 1
# logging.info("Ran %u iterations", i)
if break_outer:
break
def test_accumulate(self):
task = Task("Maintask")
subtask1 = Task("subtask1", (1, 1, 1))
subtask1.required_capabilities = ["move"]
subtask2 = Task("subtask2", (2, 2, 2))
subtask2.required_capabilities = ["fly"]
subtask3 = Task("subtask3", (3, 3, 3))
subtask3.required_capabilities = ["walk"]
subtask1.addSubtask(subtask2)
task.addSubtask(subtask1)
task.addSubtask(subtask3)
self.dckit.addTask(task)
self.dckit._accumulateCapabilities()
acc = set(["move", "fly", "walk"])
self.assertEqual(task.required_capabilities, acc,
"Contains all child required capabilites")
self.assertFalse("walk" in subtask1.required_capabilities,
"Subtask 1 does not contain walk")
self.assertFalse("walk" in subtask2.required_capabilities,
"Subtask 2 does not contain walk")
self.assertTrue("fly" in subtask1.required_capabilities,
"Subtask 1 contains fly")
