def test_add_object(self):
ks = ArticulationModel()
obj = bb(some_str='lol', some_scalar=7.5, some_subobj=bb(x=4, y=5, z=10))
op = CreateComplexObject(Path('my_obj'), obj)
self.assertIn('path/some_str', op.mod_paths)
self.assertIn('path/some_scalar', op.mod_paths)
self.assertIn('path/some_subobj', op.mod_paths)
self.assertIn('path/some_subobj/x', op.mod_paths)
self.assertIn('path/some_subobj/y', op.mod_paths)
self.assertIn('path/some_subobj/z', op.mod_paths)
self.assertIn('path', op._root_set)
self.assertEquals(op.mod_paths['path/some_str'], ('my_obj','some_str'))
self.assertEquals(op.mod_paths['path/some_scalar'], ('my_obj','some_scalar'))
self.assertEquals(op.mod_paths['path/some_subobj'], ('my_obj','some_subobj'))
self.assertEquals(op.mod_paths['path/some_subobj/x'],('my_obj','some_subobj','x'))
self.assertEquals(op.mod_paths['path/some_subobj/y'],('my_obj','some_subobj','y'))
self.assertEquals(op.mod_paths['path/some_subobj/z'],('my_obj','some_subobj','z'))
self.assertEquals(op._root_set['path'], ('my_obj'))
ks.apply_operation('create my_obj', op)
self.assertTrue(ks.has_data('my_obj'))
self.assertEquals(ks.get_data('my_obj/some_str'), 'lol')
self.assertEquals(ks.get_data('my_obj/some_scalar'), 7.5)
self.assertEquals(ks.get_data('my_obj/some_subobj/x'), 4)
self.assertEquals(ks.get_data('my_obj/some_subobj/y'), 5)
self.assertEquals(ks.get_data('my_obj/some_subobj/z'), 10)
ks.remove_operation('create my_obj')
self.assertFalse(ks.has_data('my_obj'))
self.assertFalse(ks.has_data('my_obj/some_scalar'))
self.assertFalse(ks.has_data('my_obj/some_subobj'))
self.assertFalse(ks.has_data('my_obj/some_subobj/x'))
self.assertFalse(ks.has_data('my_obj/some_subobj/y'))
self.assertFalse(ks.has_data('my_obj/some_subobj/z'))
def fake_op(deps, mods):
return bb(args_paths={n: Path(p)
for n, p in enumerate(deps)},
mod_paths={n: Path(p)
for n, p in enumerate(mods)})
def cb_srv_get_constraints(csymbs):
return server.srv_get_constraints(bb(symbols=csymbs))
def cb_srv_get_model(paths, csymbs):
return server.srv_get_model(
bb(paths=paths, constrained_symbols=csymbs))
def test_apply_operation(self):
self.ops_msg = None
self.model_msg = None
def cb_update(ops, model):
self.ops_msg = ops
self.model_msg = model
server = ModelServerForTesting(cb_update)
def cb_srv_get_model(paths, csymbs):
return server.srv_get_model(
bb(paths=paths, constrained_symbols=csymbs))
def cb_srv_get_constraints(csymbs):
return server.srv_get_constraints(bb(symbols=csymbs))
op_client = OperationsClientForTesting(None, True)
m_client = ModelClientForTesting(cb_srv_get_model,
cb_srv_get_constraints, None)
m_client.has_data('testbot')
urdf_model = URDF.from_xml_file(
res_pkg_path('package://kineverse/urdf/testbot.urdf'))
load_urdf(op_client, urdf_model.name, urdf_model)
op_list = op_client.apply_changes()
req = bb(operations=op_list)
server.srv_apply_operations(req)
server.srv_apply_operations(req)
op_client.cb_operations_update(self.ops_msg)
with open('update.json', 'w') as f:
json.dump(dict(
zip(self.model_msg.update.paths, self.model_msg.update.data)),
f,
indent=2)
m_client.cb_model_update(self.model_msg)
o_model = server.km.get_data('testbot')
t_model = m_client.get_data('testbot')
with open('original.json', 'w') as f:
json.dump(o_model, f, indent=True)
with open('transmitted.json', 'w') as f:
json.dump(t_model, f, indent=True)
self.assertEquals(o_model.name, t_model.name)
l = o_model.links['arm_mount_link']
lt = t_model.links['arm_mount_link']
for n, l in o_model.links.items():
if n not in t_model.links:
print('Link {} missing from transmitted model'.format(n))
continue
lt = t_model.links[n]
if l == lt:
print('Equality check passed for link {}'.format(n))
print('Types: {} {}'.format(type(l), type(lt)))
print('parent: {}'.format(lt.parent == l.parent))
print('pose: {}'.format(lt.pose == l.pose))
print('to_parent: {}'.format(lt.to_parent == l.to_parent))
print('geometry: {}'.format(lt.geometry == l.geometry))
print('collision: {}'.format(lt.collision == l.collision))
print('inertial: {}\n---'.format(lt.inertial == l.inertial))
else:
print('Equality check failed for link {}'.format('arm_mount_link'))
print('Types: {} {}'.format(type(l), type(lt)))
print('parent: {}'.format(lt.parent == l.parent))
print('pose: {}\n{}'.format(lt.pose == l.pose, l.pose - lt.pose))
print('to_parent: {}\n{}'.format(lt.to_parent == l.to_parent,
l.to_parent - lt.to_parent))
print('geometry: {}'.format(lt.geometry == l.geometry))
print('collision: {}'.format(lt.collision == l.collision))
print('inertial: {}'.format(lt.inertial == l.inertial))
self.assertEquals(o_model.joints, t_model.joints)
self.assertEquals(o_model, t_model)
def test_modifcation_events(self):
km = EventModel()
self.change_a = None
self.change_b = None
self.change_c = None
self.change_c_f = None
self.change_c_g = None
def cb_change_a(data):
self.change_a = data
def cb_change_b(data):
self.change_b = data
def cb_change_c(data):
self.change_c = data
def cb_change_c_f(data):
self.change_c_f = data
def cb_change_c_g(data):
self.change_c_g = data
km.register_on_model_changed(Path('a'), cb_change_a)
km.register_on_model_changed(Path('b'), cb_change_b)
km.register_on_model_changed(Path('c'), cb_change_c)
km.register_on_model_changed(Path('c/f'), cb_change_c_f)
km.register_on_model_changed(Path('c/g'), cb_change_c_g)
km.set_data('a', 5)
km.dispatch_events()
self.assertEquals(self.change_a, 5)
self.assertEquals(self.change_b, None)
km.set_data('b', 6)
km.dispatch_events()
self.assertEquals(self.change_b, 6)
self.assertEquals(self.change_c, None)
self.change_b = None
km.set_data('b', 6)
km.dispatch_events()
self.assertEquals(self.change_b, None)
c_1 = bb(f='lol', g=False)
c_2 = bb(f='kek', g=False)
c_3 = bb(f='foo', g=True)
km.set_data('c', c_1)
km.dispatch_events()
self.assertEquals(self.change_c, c_1)
self.assertEquals(self.change_c_f, 'lol')
self.assertEquals(self.change_c_g, False)
self.change_c = None
self.change_c_g = None
km.set_data('c/f', 'kek')
km.dispatch_events()
self.assertEquals(self.change_c, c_1)
self.assertEquals(self.change_c_f, 'kek')
self.assertEquals(self.change_c_g, None)
km.set_data('c', c_3)
km.dispatch_events()
self.assertEquals(self.change_c, c_3)
self.assertEquals(self.change_c_f, 'foo')
self.assertEquals(self.change_c_g, True)
km.remove_data('c')
km.dispatch_events()
self.assertEquals(self.change_c, None)
self.assertEquals(self.change_c_f, None)
self.assertEquals(self.change_c_g, None)
self.change_b = None
km.deregister_on_model_changed(cb_change_b)
km.set_data('b', 42)
km.dispatch_events()
self.assertEquals(self.change_b, None)