def test_parse_and_execute_substitution(self):
pli = ProblogInterface()
pli.append('implementation(r1, "x.v = 2 * a.v").')
# parse
s = pli.parse_substitution(
"substitution(x, [function(x,r1,[a]), a1] )")
self.assertEqual(s.vout.name, 'x')
self.assertEqual(set([v.name for v in s.vin]), set(['a1']))
self.assertEqual(len(s), 2)
# execute
a1 = Itom('a1', 1)
result = s.execute([a1])
self.assertEqual(result['x'].v, 2)
# ambiguous implementation
pli.append('implementation(r1, "x.v = 4 * a.v").')
with self.assertRaises(AmbiguousImplementation):
s = pli.parse_substitution(
"substitution(x, [function(x,r1,[a]), a1] )")
# no implementation
pli.reset()
with self.assertRaises(Exception):
s = pli.parse_substitution(
"substitution(x, [function(x,r1,[a]), a1] )")
# any string as itom identifiers
pli.reset()
b = Itom('/p2os/sonar', [1, 2, 3])
pli.append('implementation(min, "a.v = min(b.v)").')
s = pli.parse_substitution(
"substitution(a, [function(a, min, [b]), {}]).".format('"' +
b.name +
'"'))
v = s.execute([b])
self.assertEqual(v['a'].v, 1)
def test_availability(self):
a1 = Itom('a1', 0, variable='a')
a2 = Itom('a2', 1, variable='a')
b1 = Itom('b1', 2.1, variable='b')
itoms = Itoms([a1, a2, b1])
av = itoms.availability
self.assertEqual(len(av.keys()), 2)
self.assertEqual(len(av['a']), 2)
self.assertTrue('a1' in [itom.name for itom in av['a']])
self.assertEqual(len(av['b']), 1)
def test_execute(self):
s = Substitution([self.__f_add, self.__f_mult])
b = Itom('b', 1)
c = Itom('c', 2)
itoms = Itoms(list=[b, c])
variables = s.execute(itoms)
self.assertEqual(variables['d'].v, 6)
# function names not unique
s = Substitution([self.__f_add, self.__f_add2])
variables = s.execute([b, c])
self.assertEqual(variables['a'].v, 3)
def __collect_substitutions(self, itoms=[]):
"""Find relations from variables (given itoms) to domain."""
program = "\n"
if "itomsOf" not in self.__pli.program and len(itoms) > 0:
# be sure itoms is of the right type 'Itoms'
itoms = Itoms(itoms)
# append available itoms to program with "itomsOf(variable,[itom1,..])"
for variable, il in itoms.availability.items():
assert variable is not None and variable != ""
names = [i.name for i in il]
program += "itomsOf({},[{}]).\n".format(variable, ','.join(names))
program += "\n"
if len(itoms) > 0:
assert "itomsOf" in program or "itomsOf" in self.__pli.program
# get all valid substitutions for the domain
# -> query problog knowledge base
program += "query(substitution({},S)).".format(self.__domain)
result = self.__pli.evaluate(program)
S = []
for r in result.keys():
s = self.__pli.parse_substitution(str(r))
S.append(s)
if len(itoms) == 0:
# set itoms used (default value)
for s in S:
for v in s.vin:
self.__itoms[v.name] = Itom(v.name, 0.0, variable=v.name)
return S
def test_execute_with_interval(self):
f = Function('a', ['b', 'c'], "a.v = b.v + c.v", name="add")
b = Itom('b', interval([0.5, 1.5]))
c = Itom('c', interval([1, 3]))
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, interval([1.5, 4.5]))
# mix interval arithmetic with scalars
b = Itom('b', 1)
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, interval([2, 4]))
# timestamps are intervals
code = "a.v = b.v + c.v" + "\n" + "a.t = b.t & c.t"
f = Function('a', ['b', 'c'], code, name="add")
b = Itom('b', 1, interval([0.1, 0.2]))
c = Itom('c', 2, interval([0.15, 0.25]))
o = f.execute(Itoms([b, c]))
self.assertEqual(o['a'].v, 3)
self.assertEqual(o['a'].t, interval([0.15, 0.2]))
def test_implementation_multiline(self):
self.__pli.reset()
self.__pli.load("test/test_py-implementation-multiline.pl")
result = self.__pli.evaluate("query(implementation(r1, X)).")
relation, code = self.__pli.parse_implementation(list(result)[0])
self.assertEqual(relation, "r1")
# create function to execute
f = Function('a', 'b', code, name='r1')
itoms = f.execute(Itoms([Itom('b', 1, timestamp=0, variable='b')]))
self.assertEqual(itoms['a'].v, 2)
self.assertEqual(itoms['a'].t, 0)
# execute through substitution
S = self.__get_substitutions("query(substitution(a,S)).")
itoms = Itoms([Itom('b1', 1, timestamp=0, variable='b')])
outputs = self.__execute_substitutions(S, itoms)
s = list(S)[0]
self.assertEqual(outputs[s]['a'].v, 2)
self.assertEqual(outputs[s]['a'].t, 0)
def test_monitor_with_delay_model(self):
m = Monitor("test/test_py-monitor-delay-simple.pl", 'x')
# delayed step function (x1 is slower than a1)
i0 = Itoms([Itom('a1', 0, variable='a'), Itom('x1', 0, variable='x')])
i1 = Itoms([Itom('a1', 1, variable='a'), Itom('x1', 0, variable='x')])
i2 = Itoms([Itom('a1', 1, variable='a'), Itom('x1', 1, variable='x')])
failed = m.monitor(i0)
self.assertEqual(failed, None)
failed = m.monitor(i0)
self.assertEqual(failed, None)
failed = m.monitor(i1)
self.assertEqual(failed, None)
# x1 (value is still 0) doesn't follow a1 (v=1)
failed = m.monitor(i1)
self.assertNotEqual(failed, None)
failed = m.monitor(i2)
self.assertEqual(failed, None)
# delay = 2 timesteps
m = Monitor("test/test_py-monitor-delay-general.pl", 'x')
failed = m.monitor(i0)
self.assertEqual(failed, None)
failed = m.monitor(i0)
self.assertEqual(failed, None)
failed = m.monitor(i1)
self.assertEqual(failed, None)
failed = m.monitor(i1)
self.assertEqual(failed, None)
failed = m.monitor(i1)
self.assertNotEqual(failed, None)
failed = m.monitor(i2)
self.assertEqual(failed, None)
def test_init_itoms(self):
empty = Itoms()
a = Itom('a', 0)
b = Itom('b', 1, variable='b')
c = Itom('c', 2.1)
l = Itoms(list=[a, b, c])
self.assertEqual(len(l), 3)
self.assertEqual(l['a'].v, 0)
l = Itoms([a, b, c])
self.assertEqual(len(l), 3)
self.assertEqual(l['b'].v, 1)
# try different initial iterables and keys
l = Itoms({1: a, 2: b, 3: c})
self.assertEqual(len(l), 3)
self.assertEqual(l[1], a)
l = Itoms(set([a, b, c]))
self.assertEqual(len(l), 3)
self.assertTrue(c in l.values())
# start from empty dict
l = Itoms()
l['av'] = a
self.assertEqual(len(l), 1)
self.assertEqual(l['av'], a)
def test_init_itom(self):
a = Itom('a', 0)
self.assertEqual(a.v, 0)
self.assertEqual(a.t, None)
a.v = 1
a.t = 0
self.assertEqual(a.v, 1)
self.assertEqual(a.t, 0)
a.v = 0
self.assertEqual(a.v, 0)
self.assertEqual(a.t, None)
b = Itom('b1', 1, variable='b')
self.assertEqual(b.variable, 'b')
c = Itom('c', 2.1)
self.assertAlmostEqual(c.v, 2.1)
def test_preserve_vars(self):
# note: local variables can only preserved when
# - the function is *not* wrapped
# The variables are created as local variables of the function
# (global c does not work here -- there is no global variable c).
f = Function('a', ['b'],
"try:\n" \
" c = c + 1\n" \
"except:\n"
" c = 0\n" \
"a.v = b.v + c\n",
name="inc", wrap=False)
b = Itom('b', 1)
o = f.execute([b])
self.assertEqual(o['a'].v, 1)
o = f.execute([b])
self.assertEqual(o['a'].v, 2)
def test_implementation_simple(self):
self.__pli.load("test/test_py-implementation-simple.pl")
S = self.__get_substitutions("query(substitution(x,S)).")
# create some dummy data
x1 = Itom('x1', 2, variable='x')
x2 = Itom('x2', 2, variable='x')
a1 = Itom('a1', 1, variable='a')
b1 = Itom('b1', 1, variable='b')
c1 = Itom('c1', 1, variable='c')
d1 = Itom('d1', 4, variable='d')
itoms = Itoms([x1, x2, a1, b1, c1, d1])
# execute substitutions
outputs = self.__execute_substitutions(S, itoms)
# check
for output_itoms in outputs.values():
self.assertAlmostEqual(output_itoms['x'].v, 2)
def test_time_uncertainty(self):
m = Monitor("test/test_py-monitor-simple.pl", 'x')
# itoms with uncertainties in time
iok = Itoms([
Itom('x1',
interval([9, 11]),
timestamp=interval([0.1, 0.2]),
variable='x'),
Itom('a1',
interval([5, 6]),
timestamp=interval([0.15, 0.25]),
variable='a'),
Itom('b1',
interval([4, 8]),
timestamp=interval([0.1, 0.3]),
variable='b'),
])
failed = m.monitor(iok)
self.assertEqual(failed, None)
# some itoms timestamps do not overlap
ilate = Itoms([
Itom('x1',
interval([9, 11]),
timestamp=interval([0.0, 0.09]),
variable='x'),
Itom('a1',
interval([5, 6]),
timestamp=interval([0.15, 0.25]),
variable='a'),
Itom('b1',
interval([4, 8]),
timestamp=interval([0.1, 0.3]),
variable='b'),
])
failed = m.monitor(ilate)
self.assertEqual(failed, None)
def test_timestamp_model(self):
m = Monitor("test/test_py-monitor-timestamp-simple.pl", 'c')
self.assertEqual(m.buffer_size, 1)
a1 = Itom('a1', 1, interval([0.11, 0.21]), variable='a')
b1 = Itom('b1', 2, interval([0.12, 0.22]), variable='b')
c1 = Itom('c1', 3, interval([0.05, 0.15]), variable='c')
c2 = Itom('c2', 3, interval([0.14, 0.24]), variable='c')
failed = m.monitor(Itoms([a1, b1, c1, c2]))
self.assertEqual(failed, None)
# wrong value, however time stamp do not overlap -> won't be used for comparison
c1_late = Itom('c1', 0, interval([0.0, 0.04]), variable='c')
failed = m.monitor(Itoms([a1, b1, c1_late, c2]))
self.assertEqual(failed, None)
# monitor shall compensate late itoms -> increase buffer size
m = Monitor("test/test_py-monitor-timestamp-simple.pl",
'c',
buffer_size=2)
self.assertEqual(m.buffer_size, 2)
failed = m.monitor(Itoms([c1, c2]))
failed = m.monitor(Itoms([c1_late, c2]))
# another late value but wrong itom arrives
c2_wrong = Itom('c2', 1, interval([0.0, 0.03]), variable='c')
failed = m.monitor(Itoms([c1, c2_wrong]))
self.assertNotEqual(failed, None)
def test_interval(self):
a = Itom('a', interval([0.9, 1.1]))
self.assertTrue(1 in a.v)
#
try:
data = pd.read_csv(args.csv)
except Exception as e:
raise SystemExit("Failed to parse csv. {}".format(e))
# get variable/itoms available from column name (header) 'variable:itom'
itoms = Itoms()
try:
for head in data.columns.values:
head = head.strip().split(':')
v = head[0]
i = head[1]
# empty value and timestamp for this itom describing the header only
itom = Itom(i, None, variable=v, timestamp=None)
itoms[itom.name] = itom
except Exception as e:
raise SystemExit(
"Failed to parse column name 'variable:itom'. {}".format(e))
# problog knows the mapping now, so we can change the column names to itoms only
# substitution only needs itom names
data.columns = itoms.keys()
# append available itoms to program with "itomsOf(variable,[itom1,..])"
program = "\n"
for variable, il in itoms.availability.items():
names = [itom.name for itom in il]
program += "itomsOf({},[{}]).\n".format(variable, ','.join(names))
description="""Save perfect/equal itoms to pickle object file.""")
parser.add_argument("-o",
"--output",
type=str,
default="generated.obj",
help="""Output (pickle object file for run.py).""")
args = parser.parse_args()
#
# generate some perfect (equal and on time) itoms
#
t_reception = np.arange(0.5 * 1e9, 15 * 1e9,
1e9) # in nsec similar to ROS timestamps
itoms = [(tr + n * 0.15 * 1e9,
Itom(s, 1.8 + (-0.5) / 10 * tr / 1e9, tr + n * 0.15 * 1e9,
signal2variable[s])) for tr in t_reception
for n, s in enumerate(signals)]
print "[generate itoms] number of itoms: {}".format(len(itoms))
#
# dump data
#
data = {
'manipulated': False,
'itoms': itoms,
'signals': signals,
'faults': [],
}
with open(args.output, 'wb') as f:
def test_execute(self):
f = Function('a', ['b', 'c'], "a.v = b.v + c.v", name="add")
a = Itom('a', 0)
b = Itom('b', 1)
c = Itom('c', 2)
itoms = Itoms([a, b, c])
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 3)
b.v = 4
c.v = 2
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 6)
a.v = 0
b.v = 5
c.v = 5
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 10)
with self.assertRaises(Exception):
f.execute({a.name: a})
with self.assertRaises(Exception):
f.execute({b.name: b})
# test execution without wrapping the code in a function
f = Function('a', ['b', 'c'],
"a.v = b.v + c.v",
name="add",
wrap=False)
b.v = 1
c.v = 2
v = f.execute(itoms)
self.assertAlmostEqual(v['a'].v, 3)
# function setting timestamp
f = Function('a', ['b', 'c'],
"a.v = b.v + c.v; a.t = max(b.t, c.t)",
name="add")
b.t = 0
c.t = 1
v = f.execute(itoms)
self.assertEqual(v['a'].t, 1)
# test execution with non-Python-identifiers as variables
b = Itom('0b', 1)
c = Itom('1c', 2)
f = Function('a', [b.name, c.name],
"a.v = {}.v + {}.v".format(b.codename, c.codename))
v = f.execute(Itoms([b, c]))
self.assertAlmostEqual(v['a'].v, 3)
# function with lists (e.g., ROS itoms representing point clouds)
sonar = Itom('/p2os/sonar', [1, 3, 4])
f = Function('dmin', [sonar.name],
"dmin.v = min({}.v)".format(sonar.codename))
v = f.execute(Itoms([sonar]))
self.assertAlmostEqual(v['dmin'].v, 1)
def setUp(self):
self.__itoms1 = Itoms([
Itom('x1', 10, variable='x'),
Itom('x2', 10.01, variable='x'),
Itom('a1', 5, variable='a'),
Itom('b1', 5.1, variable='b'),
Itom('c1', 4.95, variable='c'),
Itom('d1', 19, variable='d'),
])
# no error (all intervals intersect in the common domain)
self.__itoms2 = Itoms([
Itom('x1', interval([9, 11]), variable='x'),
Itom('a1', interval([4.9, 5.1]), variable='a'),
Itom('d1', interval([19.5, 20.5]), variable='d'),
])
# error (d1)
self.__itoms2_err = Itoms([
Itom('x1', interval([9, 11]), variable='x'),
Itom('a1', interval([4.9, 5.1]), variable='a'),
Itom('d1', interval([23, 25]), variable='d'),
# error because: 9..11 does not inersect with 11.5..12.5
])
