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_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)