def test_no_skill_properties(self):
goal = 'example-skill'
skills = [self.skill_generator()]
with self.assertRaises(KeyError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_unknown_skill_properties(self):
goal = 'example-skill;exampleSkillProperty0=exampleSkillValue0;exampleSkillProperty1=exampleSkillValue1;unknownSkillProperty=unknownSkillPropertyValue'
skills = [self.skill_generator()]
with self.assertRaises(KeyError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_wrong_formatted_goal(self):
goal = 'example-skill;wrongFormatted'
skills = [self.skill_generator()]
with self.assertRaises(ValueError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_unknown_skill_name(self):
goal = 'unknown-skill'
skills = [self.skill_generator()]
with self.assertRaises(ValueError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_empty_goal_string(self):
goal = ''
skills = [self.skill_generator()]
with self.assertRaises(ValueError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_empty_goal_object(self):
goal = None
skills = [self.skill_generator()]
with self.assertRaises(AttributeError):
sf = SkillFactory(goal, skills)
s = sf.goal_decoder(goal, skills)
def test_decode_goal_with_multiple_skill_properties(self):
goal = 'example-skill;exampleSkillProperty0=exampleSkillValue0;exampleSkillProperty1=exampleSkillValue1;exampleSkillProperty2=exampleSkillValue2'
skills = [
self.skill_generator(skillProperties=[
'exampleSkillProperty0', 'exampleSkillProperty1',
'exampleSkillProperty2'
])
]
sf = SkillFactory(goal, skills)
decodedGoal = sf.goal_decoder(goal, skills)
self.assertEquals(decodedGoal['skillName'], 'example-skill')
self.assertEquals(decodedGoal['skillType'], 'GenericSkill')
self.assertEquals(decodedGoal['skillClass'], 'GenericSkill')
self.assertEquals(decodedGoal['allowedSkillPropertiesKeys'], [
'exampleSkillProperty0', 'exampleSkillProperty1',
'exampleSkillProperty2'
])
self.assertEquals(
decodedGoal['skillProperties'], {
'exampleSkillProperty0': 'exampleSkillValue0',
'exampleSkillProperty1': 'exampleSkillValue1',
'exampleSkillProperty2': 'exampleSkillValue2'
})
def test_decode_simple_goal_with_list_of_skills(self):
goal = 'example-skill;exampleSkillProperty0=exampleSkillValue0'
skills = [
self.skill_generator(skillProperties=['exampleSkillProperty0']),
self.skill_generator(skillName='example-skill-2')
]
sf = SkillFactory(goal, skills)
decodedGoal = sf.goal_decoder(goal, skills)
self.assertEquals(decodedGoal['skillName'], 'example-skill')
self.assertEquals(decodedGoal['skillType'], 'GenericSkill')
self.assertEquals(decodedGoal['skillClass'], 'GenericSkill')
self.assertEquals(decodedGoal['allowedSkillPropertiesKeys'],
['exampleSkillProperty0'])
self.assertEquals(decodedGoal['skillProperties'],
{'exampleSkillProperty0': 'exampleSkillValue0'})
def test_decode_goal_with_list_property_values(self):
goal = 'example-skill;exampleSkillProperty0=[1, 2, 3];exampleSkillProperty1=[4, 5, 6]'
skills = [
self.skill_generator(skillProperties=[
'exampleSkillProperty0', 'exampleSkillProperty1'
])
]
sf = SkillFactory(goal, skills)
decodedGoal = sf.goal_decoder(goal, skills)
self.assertEquals(decodedGoal['skillProperties'], {
'exampleSkillProperty0': [1, 2, 3],
'exampleSkillProperty1': [4, 5, 6]
})
self.assertTrue(
isinstance(decodedGoal['skillProperties']['exampleSkillProperty0'],
list))
self.assertTrue(
isinstance(decodedGoal['skillProperties']['exampleSkillProperty1'],
list))
def test_decode_goal_with_float_property_values(self):
goal = 'example-skill;exampleSkillProperty0=1.1;exampleSkillProperty1=10.1'
skills = [
self.skill_generator(skillProperties=[
'exampleSkillProperty0', 'exampleSkillProperty1'
])
]
sf = SkillFactory(goal, skills)
decodedGoal = sf.goal_decoder(goal, skills)
self.assertEquals(decodedGoal['skillProperties'], {
'exampleSkillProperty0': 1.1,
'exampleSkillProperty1': 10.1
})
self.assertTrue(
isinstance(decodedGoal['skillProperties']['exampleSkillProperty0'],
float))
self.assertTrue(
isinstance(decodedGoal['skillProperties']['exampleSkillProperty1'],
float))
def test_simple_wait_skill_factory(self):
goal = 'example-skill;exampleSkillProperty0=exampleSkillValue0;exampleSkillProperty1=exampleSkillValue1'
skills = [self.skill_generator()]
sf = SkillFactory(goal, skills)
self.assertTrue(isinstance(sf.skill, GenericSkill))
self.assertEquals(sf.skill.skillName, 'example-skill')
self.assertEquals(sf.skill.skillType, 'GenericSkill')
self.assertEquals(sf.skill.skillClass, 'GenericSkill')
self.assertEquals(sf.skill.allowedSkillPropertiesKeys,
['exampleSkillProperty0', 'exampleSkillProperty1'])
self.assertEquals(
sf.skill.skillProperties, {
'exampleSkillProperty0': 'exampleSkillValue0',
'exampleSkillProperty1': 'exampleSkillValue1'
})
def assign_mission_service_handler(self,
missionId='defaultMissionId',
robotId='defaultRobotId',
goals=[],
priority='NORMAL',
executeMission=False):
if robotId != self.robotId:
rospy.logwarn('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' refused: Different robotId!')
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False', reasonOfRefusal='Different robotId!')
if self.missionQueueSize > 0:
if len(self.taskQueue) >= self.missionQueueSize:
rospy.logwarn('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' refused: Mission queue is already fulfilled!')
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False',
reasonOfRefusal='Mission queue is already fulfilled!')
#this feature was comented by Ivo/Heber request. #TODO: it should be uncomented to refuse again in the future
# for mission in self.missions:
# if missionId == mission['missionId']:
# rospy.logwarn('[TaskManager] [' + str(self.robotId) + '] Mission ' + str(missionId) + ' refused: Mission already stored!')
# # return MSGConstructor.ActionAcceptedRefusedConstructor(accepted='False', reasonOfRefusal='Mission already stored!')
if len(goals) == 0:
rospy.logwarn('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' refused: Empty goals!')
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False', reasonOfRefusal='Empty goals!')
if priority not in self.possiblePriorities:
rospy.logwarn('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' refused: Priority is not well defined!')
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False',
reasonOfRefusal='Priority is not well defined!')
missionSkills = []
for goal in goals:
try:
sf = SkillFactory(goal, self.skills)
missionSkills += [sf.skill]
except Exception as e:
rospy.logwarn('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' refused: Badly formatted goal (' + str(goal) +
'): ' + str(e))
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='False',
reasonOfRefusal='Badly formatted goal (' + str(goal) +
'): ' + str(e))
self.missions.append({
'missionId': missionId,
'taskId': '',
'statusCode': '',
'statusDescription': 'Mission Created'
})
priorityNum = self.possiblePriorities[
priority] #Transforms priority description (LOW, NORMAL or HIGH in a number 0,1,2)
mission = {
'missionId': missionId,
'missionSkills': missionSkills,
'priority': priorityNum,
'executeMission': executeMission
}
#this for loop apends missions in the queue deppendig on its priority
for task in self.taskQueue:
if task['priority'] < priorityNum:
self.taskQueue.insert(self.taskQueue.index(task), mission)
break
else:
self.taskQueue.append(mission)
if self.robotState == 'busy':
rospy.loginfo('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' Accepted! Waiting for execution.')
rospy.loginfo('[TaskManager] [' + str(self.robotId) +
'] Mission Queue' +
str([task['missionId'] for task in self.taskQueue]))
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')
else:
rospy.loginfo('[TaskManager] [' + str(self.robotId) +
'] Mission ' + str(missionId) +
' Accepted! Starting Execution.')
self.queue_execution_handler()
return MSGConstructor.ActionAcceptedRefusedConstructor(
accepted='True', reasonOfRefusal='None')