def test_dsl_factory(self):
factory = DSLFactory()
factory2 = DSLFactory()
# test of singleton factory behavior
self.assertIs(factory, factory2)
a = factory.from_file(
"/home/robolab/robocomp/components/euroage-tv/components/tvGames/gamestatemachine.smdsl"
)
# test for cached query
b = factory.from_file(
"/home/robolab/robocomp/components/euroage-tv/components/tvGames/gamestatemachine.smdsl"
)
self.assertIs(a, b)
c = factory.from_file(
"/home/robolab/robocomp/interfaces/IDSLs/JointMotor.idsl")
# test for cached query
d = factory.from_file(
"/home/robolab/robocomp/interfaces/IDSLs/JointMotor.idsl")
self.assertIs(c, d)
e = factory.from_file(
"/home/robolab/robocomp/tools/robocompdsl/component_generation_test/customStateMachinePython/test.cdsl"
)
# test for cached query
f = factory.from_file(
"/home/robolab/robocomp/tools/robocompdsl/component_generation_test/customStateMachinePython/test.cdsl"
)
self.assertIs(e, f)
class DSLFactoryTestCase(unittest.TestCase):
def setUp(self):
self.maxDiff = None
self.factory = DSLFactory()
def assertNestedDictEqual(self, first, second, ignored_keys=None, msg=None):
if ignored_keys is not None:
first = copy.deepcopy(first)
second = copy.deepcopy(second)
for key in ignored_keys:
if key in first:
del first[key]
if key in second:
del second[key]
j1 = json.dumps(first, sort_keys=True, indent=4)
j2 = json.dumps(second, sort_keys=True, indent=4)
self.maxDiff = None
# with open('last_json1.txt', 'w') as outfile:
# json.dump(first, outfile, sort_keys=True, indent=4)
# with open('last_json2.txt', 'w') as outfile:
# json.dump(second, outfile, sort_keys=True, indent=4)
self.assertEqual(j1, j2, msg)
def test_factory_singleton(self):
factory2 = DSLFactory()
self.assertIs(self.factory, factory2)
def test_factory_smdsl(self):
a = self.factory.from_file(os.path.join(RESOURCES_DIR, "gamestatemachine.smdsl"))
self.assertDictEqual(a, {
'machine': {
'name': 'application_machine',
'default': False,
'contents': {
'states': None,
'finalstate': 'app_end',
'initialstate': 'game_machine',
'transitions': [
{'src': 'game_machine', 'dests': ['app_end']}]
}
},
'substates': [
{
'parallel': False,
'parent': 'game_machine',
'contents': {
'states': [
'session_init',
'game_start_wait',
'game_init',
'game_loop',
'game_pause',
'game_resume',
'game_reset',
'game_end',
'game_won',
'game_lost',
'session_end'],
'finalstate': None,
'initialstate': 'session_start_wait',
'transitions': [
{'src': 'session_start_wait', 'dests': ['session_init']},
{'src': 'session_init', 'dests': ['game_start_wait']},
{'src': 'game_start_wait', 'dests': ['game_start_wait']},
{'src': 'game_start_wait', 'dests': ['game_init']},
{'src': 'game_start_wait', 'dests': ['session_end']},
{'src': 'session_end', 'dests': ['session_start_wait']},
{'src': 'game_init', 'dests': ['game_loop']},
{'src': 'game_loop', 'dests': ['game_loop', 'game_pause', 'game_won', 'game_lost', 'game_end']},
{'src': 'game_pause', 'dests': ['game_loop']},
{'src': 'game_pause', 'dests': ['game_reset']},
{'src': 'game_pause', 'dests': ['game_resume']},
{'src': 'game_pause', 'dests': ['game_end']},
{'src': 'game_resume', 'dests': ['game_loop']},
{'src': 'game_end', 'dests': ['game_lost']},
{'src': 'game_end', 'dests': ['game_won']},
{'src': 'game_lost', 'dests': ['game_start_wait']},
{'src': 'game_won', 'dests': ['game_start_wait']},
{'src': 'game_reset', 'dests': ['game_start_wait']}
]
}
},
{
'parallel': False,
'parent': 'session_init',
'contents': {
'states': [
'player_acquisition_loop'],
'finalstate': 'player_acquisition_ended',
'initialstate': 'player_acquisition_init',
'transitions': [
{'src': 'player_acquisition_init', 'dests': ['player_acquisition_loop']},
{'src': 'player_acquisition_loop', 'dests': ['player_acquisition_loop']},
{'src': 'player_acquisition_loop', 'dests': ['player_acquisition_ended']}
]
}
}
],
'filename': os.path.join(RESOURCES_DIR, "gamestatemachine.smdsl")
})
# Test for cached query
b = self.factory.from_file(os.path.join(RESOURCES_DIR, "gamestatemachine.smdsl"))
self.assertIs(a, b)
def test_factory_idsl(self):
c = self.factory.from_file("JointMotor.idsl")
ref = OrderedDict({
'name': 'RoboCompJointMotor',
'imports': [],
'recursive_imports': [],
'interfaces':[
{'name': 'JointMotor',
'methods':
OrderedDict([
('getAllMotorParams',{'name': 'getAllMotorParams', 'decorator': '', 'return': 'MotorParamsList', 'params': [], 'throws': 'nothing'}),
('getAllMotorState', {'name': 'getAllMotorState', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'out', 'type': 'MotorStateMap', 'name': 'mstateMap'}], 'throws': ['UnknownMotorException']}),
('getBusParams', {'name': 'getBusParams', 'decorator': '', 'return': 'BusParams', 'params': [], 'throws': 'nothing'}),
('getMotorParams', {'name': 'getMotorParams', 'decorator': '', 'return': 'MotorParams', 'params': [{'decorator': 'none', 'type': 'string', 'name': 'motor'}], 'throws': ['UnknownMotorException']}),
('getMotorState', {'name': 'getMotorState', 'decorator': '', 'return': 'MotorState', 'params': [{'decorator': 'none', 'type': 'string', 'name': 'motor'}], 'throws': ['UnknownMotorException']}),
('getMotorStateMap', {'name': 'getMotorStateMap', 'decorator': '', 'return': 'MotorStateMap', 'params': [{'decorator': 'none', 'type': 'MotorList', 'name': 'mList'}], 'throws': ['UnknownMotorException']}),
('setPosition', {'name': 'setPosition', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'none', 'type': 'MotorGoalPosition', 'name': 'goal'}], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException', ',', 'CollisionException']}),
('setSyncPosition', {'name': 'setSyncPosition', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'none', 'type': 'MotorGoalPositionList', 'name': 'listGoals'}], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException']}),
('setSyncVelocity', {'name': 'setSyncVelocity', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'none', 'type': 'MotorGoalVelocityList', 'name': 'listGoals'}], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException']}),
('setSyncZeroPos', {'name': 'setSyncZeroPos', 'decorator': '', 'return': 'void', 'params': [], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException']}),
('setVelocity', {'name': 'setVelocity', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'none', 'type': 'MotorGoalVelocity', 'name': 'goal'}], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException']}),
('setZeroPos', {'name': 'setZeroPos', 'decorator': '', 'return': 'void', 'params': [{'decorator': 'none', 'type': 'string', 'name': 'name'}], 'throws': ['UnknownMotorException', ',', 'HardwareFailedException']})])},
{'name': 'JointMotorPublish',
'methods':
OrderedDict([
('motorStates', {'name': 'motorStates',
'decorator': '',
'return': 'void',
'params': [
{'decorator': 'none',
'type': 'MotorStateMap',
'name': 'mstateMap'}
],
'throws': 'nothing'
})
])
}
],
'types': [
{'type': 'exception',
'name': 'HardwareFailedException',
'content': '\n string what;\n '},
{'type': 'exception',
'name': 'OutOfRangeException',
'content': '\n string what;\n '},
{'type': 'exception',
'name': 'UnknownMotorException',
'content': '\n string what;\n '},
{'type': 'exception',
'name': 'CollisionException',
'content': '\n string what;\n '},
{'type': 'struct',
'name': 'MotorState',
'structIdentifiers': [{'type': 'float', 'identifier': 'pos'},
{'type': 'float', 'identifier': 'vel'},
{'type': 'float', 'identifier': 'power'},
{'type': 'string', 'identifier': 'timeStamp'},
{'type': 'int', 'identifier': 'p'},
{'type': 'int', 'identifier': 'v'},
{'type': 'bool', 'identifier': 'isMoving'},
{'type': 'int', 'identifier': 'temperature'}]},
{'type': 'dictionary',
'content': 'string,MotorState',
'name': 'MotorStateMap'},
{'type': 'struct',
'name': 'MotorParams',
'structIdentifiers': [{'type': 'string', 'identifier': 'name'},
{'type': 'byte', 'identifier': 'busId'},
{'type': 'float', 'identifier': 'minPos'},
{'type': 'float', 'identifier': 'maxPos'},
{'type': 'float', 'identifier': 'maxVelocity'},
{'type': 'float', 'identifier': 'zeroPos'},
{'type': 'float', 'identifier': 'stepsRange'},
{'type': 'float', 'identifier': 'maxDegrees'},
{'type': 'bool', 'identifier': 'invertedSign'},
{'type': 'float', 'identifier': 'offset'},
{'type': 'float', 'identifier': 'unitsRange'}]},
{'type': 'sequence',
'typeSequence': 'MotorParams',
'name': 'MotorParamsList'},
{'type': 'struct',
'name': 'BusParams',
'structIdentifiers': [{'type': 'string', 'identifier': 'handler'},
{'type': 'string', 'identifier': 'device'},
{'type': 'int', 'identifier': 'numMotors'},
{'type': 'int', 'identifier': 'baudRate'},
{'type': 'int', 'identifier': 'basicPeriod'}]},
{'type': 'struct',
'name': 'MotorGoalPosition',
'structIdentifiers': [{'type': 'string', 'identifier': 'name'},
{'type': 'float', 'identifier': 'position'},
{'type': 'float', 'identifier': 'maxSpeed'}]},
{'type': 'sequence',
'typeSequence': 'MotorGoalPosition',
'name': 'MotorGoalPositionList'},
{'type': 'struct',
'name': 'MotorGoalVelocity',
'structIdentifiers': [{'type': 'string', 'identifier': 'name'},
{'type': 'float', 'identifier': 'velocity'},
{'type': 'float', 'identifier': 'maxAcc'}]},
{'type': 'sequence',
'typeSequence': 'MotorGoalVelocity',
'name': 'MotorGoalVelocityList'},
{'type': 'sequence',
'typeSequence': 'string',
'name': 'MotorList'}],
'sequences': [
{'name': 'RoboCompJointMotor/MotorParamsList',
'type': 'sequence',
'typeSequence': 'MotorParams'},
{'name': 'RoboCompJointMotor/MotorGoalPositionList',
'type': 'sequence',
'typeSequence': 'MotorGoalPosition'},
{'name': 'RoboCompJointMotor/MotorGoalVelocityList',
'type': 'sequence',
'typeSequence': 'MotorGoalVelocity'},
{'name': 'RoboCompJointMotor/MotorList',
'type': 'sequence',
'typeSequence': 'string'}
],
'simpleSequences': [
{'name': 'RoboCompJointMotor',
'strName': 'MotorParamsList'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorGoalPositionList'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorGoalVelocityList'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorList'}
],
'structs': [
{'name': 'RoboCompJointMotor/MotorState',
'type': 'struct',
'structIdentifiers': [
['float', 'pos'],
['float', 'vel'],
['float', 'power'],
['string', 'timeStamp'],
['int', 'p'],
['int', 'v'],
['bool', 'isMoving'],
['int', 'temperature']
]
},
{'name': 'RoboCompJointMotor/MotorParams',
'type': 'struct',
'structIdentifiers': [
['string', 'name'],
['byte', 'busId'],
['float', 'minPos'],
['float', 'maxPos'],
['float', 'maxVelocity'],
['float', 'zeroPos'],
['float', 'stepsRange'],
['float', 'maxDegrees'],
['bool', 'invertedSign'],
['float', 'offset'],
['float', 'unitsRange']
]
},
{'name': 'RoboCompJointMotor/BusParams',
'type': 'struct',
'structIdentifiers': [
['string', 'handler'],
['string', 'device'],
['int', 'numMotors'],
['int', 'baudRate'],
['int', 'basicPeriod']
]
},
{'name': 'RoboCompJointMotor/MotorGoalPosition',
'type': 'struct',
'structIdentifiers': [
['string', 'name'],
['float', 'position'],
['float', 'maxSpeed']
]
},
{'name': 'RoboCompJointMotor/MotorGoalVelocity',
'type': 'struct',
'structIdentifiers': [
['string', 'name'],
['float', 'velocity'],
['float', 'maxAcc']
]
}
],
'simpleStructs': [
{'name': 'RoboCompJointMotor',
'strName': 'MotorState'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorParams'},
{'name': 'RoboCompJointMotor',
'strName': 'BusParams'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorGoalPosition'},
{'name': 'RoboCompJointMotor',
'strName': 'MotorGoalVelocity'}
],
'filename': '/opt/robocomp/interfaces/IDSLs/JointMotor.idsl'
})
self.assertNestedDictEqual(c, ref, ignored_keys=['filename'])
# test for cached query
d = self.factory.from_file("JointMotor.idsl")
self.assertIs(c, d)
def test_factory_cdsl(self):
# TODO: Use a better cdsl example than this
g = self.factory.from_file(os.path.join(RESOURCES_DIR, "customstatemachinecpp.cdsl"))
ref = cf.ComponentFacade({
'options': [],
'name': 'testcomp',
'imports': [],
'recursiveImports': [],
'language': 'cpp',
'statemachine_path': 'gamestatemachine.smdsl',
'statemachine_visual': False,
'innermodelviewer': False,
'gui': ['Qt', 'QWidget'],
'rosInterfaces': [],
'iceInterfaces': [],
'implements': [],
'requires': [],
'publishes': [],
'subscribesTo': [],
'usingROS': False,
'dsr': False,
'filename': os.path.join(RESOURCES_DIR, "customstatemachinecpp.cdsl")})
self.assertEqual(g, ref)
# test for cached query
h = self.factory.from_file(os.path.join(RESOURCES_DIR, "customstatemachinecpp.cdsl"))
self.assertIs(g, h)
def test_factory_cdsl_with_options(self):
# TODO: Use a better cdsl example than this
g = self.factory.from_file(os.path.join(RESOURCES_DIR, "componentwithoptions.cdsl"))
ref = cf.ComponentFacade({
'options': ['agmagent', 'innermodelviewer'],
'name': 'testcomp',
'imports': ['AGMCommonBehavior.idsl',
'AGMExecutive.idsl',
'AGMExecutiveTopic.idsl',
'AGMWorldModel.idsl'],
'recursiveImports': ['Planning.idsl'],
'language': 'cpp',
'statemachine_path': None,
'statemachine_visual': False,
'innermodelviewer': True,
'gui': ['Qt', 'QWidget'],
'rosInterfaces': [],
'iceInterfaces': [['AGMCommonBehavior', 'ice'],
['AGMExecutive', 'ice'],
['AGMExecutiveTopic', 'ice'],
['AGMWorldModel', 'ice']],
'implements': [['AGMCommonBehavior','ice']],
'requires': [['AGMExecutive', 'ice']],
'publishes': [],
'subscribesTo': [['AGMExecutiveTopic', 'ice']],
'usingROS': False,
'dsr': False,
'filename': os.path.join(RESOURCES_DIR, "componentwithoptions.cdsl")})
self.assertEqual(g, ref)
# test for cached query
h = self.factory.from_file(os.path.join(RESOURCES_DIR, "componentwithoptions.cdsl"))
self.assertIs(g, h)
# def test_factory_jcdsl(self):
# # TODO: Use a better cdsl example than this
# g = self.factory.from_file(os.path.join(RESOURCES_DIR, "jsoncomp.jcdsl"))
# self.assertCountEqual(g, {
# 'options': ['agmagent', 'innermodelviewer'],
# 'name': 'testcomp',
# 'imports': ['AGMCommonBehavior.idsl',
# 'AGMExecutive.idsl',
# 'AGMExecutiveTopic.idsl',
# 'AGMWorldModel.idsl'],
# 'recursiveImports': ['Planning.idsl'],
# 'language': 'cpp',
# 'statemachine': None,
# 'statemachine_visual': False,
# 'innermodelviewer': True,
# 'gui': ['Qt', 'QWidget'],
# 'rosInterfaces': [],
# 'iceInterfaces': ['AGMCommonBehavior',
# 'AGMExecutive',
# 'AGMExecutiveTopic',
# 'AGMWorldModel'],
# 'implements': ['AGMCommonBehavior'],
# 'requires': ['AGMExecutive'],
# 'publishes': [],
# 'subscribesTo': ['AGMExecutiveTopic'],
# 'usingROS': False,
# 'filename': os.path.join(RESOURCES_DIR, "jsoncomp.jcdsl")})
# # test for cached query
# h = self.factory.from_file(os.path.join(RESOURCES_DIR, "jsoncomp.jcdsl"))
# self.assertIs(g, h)
def test_factory_special_cases(self):
# valid idsl without path
a = self.factory.from_file("JointMotor.idsl")
b = self.factory.from_file("JointMotor.idsl")
self.assertEqual(a,b)
# Not valid idsl without path
self.assertRaises(IOError, self.factory.from_file,"NotAnIdsl.idsl")
# None as path
self.assertEqual(self.factory.from_file(None), None)
# invalid dsl type from file extension
self.assertRaises(ValueError, self.factory.from_string,"asdafafsdfasfsdfasdff", "ppsl")
# invalid dsl type from file extension
self.assertRaises(ParseException, self.factory.from_string, "this is not a valid string for the parser", "idsl")
def assertFilesSame(self, sFName1, sFName2):
text1 = open(os.path.join(self.tempdir, sFName1), 'rb').read()
text2 = open(os.path.join(self.tempdir, sFName2), 'rb').read()
self.assertEqual(text1, text2)
