def test_equality(self):
res1 = PoolResource(
Resource(uri='linux.precise.ros.segbot.roberto',
rapp='rocon_apps/teleop'))
self.assertEqual(
res1,
PoolResource(
Resource(uri='linux.precise.ros.segbot.roberto',
rapp='rocon_apps/teleop')))
# different uri
self.assertNotEqual(res1, PoolResource(TEST_ANOTHER))
# different rapp name
self.assertNotEqual(
res1,
PoolResource(
Resource(uri='linux.precise.ros.segbot.roberto',
rapp='other_package/teleop')))
# different owner
res2 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp='rocon_apps/teleop'))
res2.allocate(copy.deepcopy(ROBERTO_REQUEST))
self.assertNotEqual(res1, res2)
# different status
res3 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp='rocon_apps/teleop'))
res3.status = CurrentStatus.MISSING
self.assertEqual(res1.owner, res3.owner)
self.assertNotEqual(res1.status, res3.status)
self.assertNotEqual(res1, res3)
def test_allocate_four_resources_success(self):
""" Similar to test_allocate_four_resources_failure(), but the
order of the request is different, so the allocator succeeds.
"""
pool = ResourcePool(
KnownResources(resources=[
CurrentStatus(uri=DUDE1_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE2_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE3_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE4_NAME,
rapps={TELEOP_RAPP, EXAMPLE_RAPP})
]))
rq = ActiveRequest(
Request(id=unique_id.toMsg(RQ_UUID),
resources=[
Resource(rapp=EXAMPLE_RAPP, uri=DUDE4_NAME),
Resource(rapp=TELEOP_RAPP, uri=DUDE2_NAME),
Resource(rapp=TELEOP_RAPP, uri=DUDE3_NAME),
Resource(rapp=TELEOP_RAPP, uri=ANY_NAME)
]))
alloc = pool.allocate(rq)
self.assertTrue(alloc)
bot_names = [DUDE4_NAME, DUDE2_NAME, DUDE3_NAME, DUDE1_NAME]
for name, i in zip(bot_names, range(4)):
self.assertEqual(pool[name].status, CurrentStatus.ALLOCATED)
self.assertEqual(alloc[i].uri, name)
def test_allocate_permutation_two_resources(self):
""" Request a regexp allocation followed by an exact
allocation. Initially the exact resource gets assigned to the
regexp, so the second part of the request fails. The
allocator must try the other permutation for it to succeed.
"""
pool = ResourcePool(
KnownResources(resources=[
CurrentStatus(uri=MARVIN_NAME,
rapps={TELEOP_RAPP, EXAMPLE_RAPP}),
CurrentStatus(uri=ROBERTO_NAME, rapps={TELEOP_RAPP})
]))
rq = ActiveRequest(
Request(id=unique_id.toMsg(RQ_UUID),
resources=[
Resource(rapp=TELEOP_RAPP, uri=ANY_NAME),
Resource(rapp=EXAMPLE_RAPP, uri=MARVIN_NAME)
]))
alloc = pool.allocate(rq)
self.assertTrue(alloc)
self.assertEqual(len(alloc), 2)
self.assertEqual(pool[MARVIN_NAME].status, CurrentStatus.ALLOCATED)
self.assertEqual(pool[MARVIN_NAME].owner, RQ_UUID)
self.assertEqual(pool[ROBERTO_NAME].status, CurrentStatus.ALLOCATED)
self.assertEqual(pool[ROBERTO_NAME].owner, RQ_UUID)
self.assertEqual(alloc[0], Resource(rapp=TELEOP_RAPP,
uri=ROBERTO_NAME))
self.assertEqual(alloc[1], Resource(rapp=EXAMPLE_RAPP,
uri=MARVIN_NAME))
def test_allocate_four_resources_failure(self):
""" Similar to test_allocate_permutation_two_resources(), but
here there are more permutations, so the allocator gives up
after the initial failure.
"""
pool = ResourcePool(
KnownResources(resources=[
CurrentStatus(uri=DUDE1_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE2_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE3_NAME, rapps={TELEOP_RAPP}),
CurrentStatus(uri=DUDE4_NAME,
rapps={TELEOP_RAPP, EXAMPLE_RAPP})
]))
rq = ActiveRequest(
Request(id=unique_id.toMsg(RQ_UUID),
resources=[
Resource(rapp=TELEOP_RAPP, uri=ANY_NAME),
Resource(rapp=EXAMPLE_RAPP, uri=DUDE4_NAME),
Resource(rapp=TELEOP_RAPP, uri=DUDE2_NAME),
Resource(rapp=TELEOP_RAPP, uri=DUDE3_NAME)
]))
self.assertRaises(InvalidRequestError, pool.allocate, rq)
for name in [DUDE1_NAME, DUDE2_NAME, DUDE3_NAME, DUDE4_NAME]:
self.assertEqual(pool[name].status, CurrentStatus.AVAILABLE)
self.assertIsNone(pool[name].owner)
def test_release(self):
res1 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp=EXAMPLE_RAPP))
self.assertEqual(res1.status, CurrentStatus.AVAILABLE)
self.assertEqual(res1.owner, None)
res1.allocate(copy.deepcopy(ROBERTO_REQUEST))
self.assertEqual(res1.status, CurrentStatus.ALLOCATED)
self.assertEqual(res1.owner, RQ_UUID)
self.assertRaises(ResourceNotOwnedError, res1.release, DIFF_UUID)
self.assertEqual(res1.status, CurrentStatus.ALLOCATED)
res1.release(RQ_UUID)
self.assertEqual(res1.status, CurrentStatus.AVAILABLE)
res2 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp=EXAMPLE_RAPP))
res2.allocate(copy.deepcopy(ROBERTO_REQUEST))
self.assertEqual(res2.status, CurrentStatus.ALLOCATED)
res2.status = CurrentStatus.MISSING # resource now missing
res2.release(RQ_UUID)
self.assertEqual(res2.status, CurrentStatus.MISSING)
res3 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp=EXAMPLE_RAPP))
res3.allocate(copy.deepcopy(ROBERTO_REQUEST))
res3.release()
self.assertEqual(res3.status, CurrentStatus.AVAILABLE)
res4 = PoolResource(
Resource(uri='rocon:/segbot/roberto', rapp=EXAMPLE_RAPP))
res4.allocate(copy.deepcopy(ROBERTO_REQUEST))
res4.status = CurrentStatus.MISSING # resource now missing
res4.release()
self.assertEqual(res4.status, CurrentStatus.MISSING)
def __init__(self):
rospy.init_node("example_scheduler")
# simplifying assumptions: all requests want a single robot,
# and any of these will do:
self.avail = deque([ # FIFO queue of available robots
Resource(rapp='example_rapp', uri='rocon:/turtlebot/roberto'),
Resource(rapp='example_rapp', uri='rocon:/turtlebot/marvin')
])
self.ready_queue = deque() # FIFO queue of waiting requests
self.sch = Scheduler(self.callback)
rospy.spin()
def test_timeout_scheduler(self):
""" Initialize ROCON scheduler node for timeout test. """
rospy.init_node("timeout_scheduler")
# simplifying assumptions: all requests want a single robot,
# and any of these will do:
self.avail = deque( # FIFO queue of available robots
[
Resource(rapp='example_rapp', uri='rocon:/turtlebot/roberto'),
Resource(rapp='example_rapp', uri='rocon:/turtlebot/marvin')
])
self.ready_queue = deque() # FIFO queue of waiting requests
self.seen_requester = False
self.timer = rospy.Timer(rospy.Duration(2.0), self.check_finished)
self.sch = Scheduler(self.callback, frequency=1.0)
rospy.spin()
def test_matching_allocation_one_resource(self):
pool = ResourcePool(SINGLETON_POOL)
self.assertEqual(len(pool), 1)
self.assertEqual(pool.known_resources(), SINGLETON_POOL)
self.assertFalse(pool.changed)
res = Resource(rapp=TELEOP_RAPP, uri=ANY_NAME)
subset = pool._match_subset(res, {CurrentStatus.AVAILABLE})
self.assertNotIn(MARVIN_NAME, subset)
self.assertIn(ROBERTO_NAME, subset)
self.assertEqual(subset, set([ROBERTO_NAME]))
self.assertEqual(
pool.match_list([ROBERTO_RESOURCE], {CurrentStatus.AVAILABLE}),
[set([ROBERTO_NAME])])
rq = copy.deepcopy(ANY_REQUEST)
alloc = pool.allocate(rq)
self.assertTrue(alloc)
self.assertTrue(pool.changed)
self.assertEqual(alloc[0], ROBERTO_RESOURCE)
self.assertEqual(pool[ROBERTO_NAME].status, CurrentStatus.ALLOCATED)
self.assertEqual(pool[ROBERTO_NAME].owner, RQ_UUID)
self.assertTrue(pool.changed)
self.assertEqual(
pool.known_resources(),
KnownResources(resources=[
CurrentStatus(uri=ROBERTO_NAME,
rapps=TEST_RAPPS,
status=CurrentStatus.ALLOCATED,
owner=unique_id.toMsg(RQ_UUID))
]))
self.assertFalse(pool.changed)
def request_turtlebot(self):
""" Request any tutlebot able to run *example_rapp*.
:returns: UUID of new request sent.
"""
bot = Resource(rapp='example_rapp', uri='rocon:/turtlebot')
request_id = self.rqr.new_request([bot])
self.rqr.send_requests()
return request_id
def request_turtlebot(self):
""" Request any tutlebot able to run *example_rapp*.
:returns: UUID of new request sent.
"""
bot = Resource(rapp='example_rapp', uri='rocon:/turtlebot')
rq_id = self.rqr.new_request([bot])
rospy.loginfo(' new request: ' + str(rq_id))
return rq_id
def test_match_failures(self):
pool = ResourcePool(SINGLETON_POOL)
res = Resource(rapp=TELEOP_RAPP, uri=NOT_TURTLEBOT_NAME)
subset = pool._match_subset(res, {CurrentStatus.AVAILABLE})
self.assertEqual(len(subset), 0)
self.assertNotIn(MARVIN_NAME, subset)
self.assertNotIn(ROBERTO_NAME, subset)
self.assertEqual(subset, set())
# test null resources list:
match_null = pool.match_list([], {CurrentStatus.AVAILABLE})
self.assertEqual(match_null, [])
self.assertFalse(match_null)
# test not matching resource:
matches = pool.match_list([NOT_TURTLEBOT_RESOURCE],
{CurrentStatus.AVAILABLE})
self.assertEqual(matches, [])
self.assertFalse(matches)
rq = copy.deepcopy(NOT_TURTLEBOT_REQUEST)
alloc = pool.allocate(rq)
self.assertFalse(alloc)
def test_matching_allocation_two_resources(self):
pool = ResourcePool(DOUBLETON_POOL)
self.assertEqual(len(pool), 2)
res = Resource(rapp=TELEOP_RAPP, uri=ANY_NAME)
subset = pool._match_subset(res, {CurrentStatus.AVAILABLE})
self.assertIn(MARVIN_NAME, subset)
self.assertIn(ROBERTO_NAME, subset)
self.assertEqual(subset, set([MARVIN_NAME, ROBERTO_NAME]))
self.assertEqual(
pool.match_list([ROBERTO_RESOURCE], {CurrentStatus.AVAILABLE}),
[set([ROBERTO_NAME])])
rq = copy.deepcopy(ANY_REQUEST)
alloc = pool.allocate(rq)
self.assertTrue(alloc)
if alloc[0] == MARVIN_RESOURCE:
self.assertEqual(pool[MARVIN_NAME].status, CurrentStatus.ALLOCATED)
self.assertEqual(pool[MARVIN_NAME].owner, RQ_UUID)
elif alloc[0] == ROBERTO_RESOURCE:
self.assertEqual(pool[ROBERTO_NAME].status,
CurrentStatus.ALLOCATED)
self.assertEqual(pool[ROBERTO_NAME].owner, RQ_UUID)
else:
self.fail('allocation failed to yield any expected result')
def test_match(self):
res1 = PoolResource(TEST_STATUS)
self.assertTrue(
res1.match(Resource(rapp=EXAMPLE_RAPP, uri=r'rocon:/segbot')))
#self.assertTrue(res1.match(Resource(rapp=EXAMPLE_RAPP, uri='')))
self.assertTrue(res1.match(Resource(rapp=EXAMPLE_RAPP, uri='rocon:')))
self.assertTrue(
res1.match(Resource(rapp=EXAMPLE_RAPP,
uri='rocon:/segbot/roberto')))
self.assertFalse(
res1.match(Resource(rapp=EXAMPLE_RAPP, uri='rocon:segbot/marvin')))
self.assertTrue(
res1.match(
Resource(rapp=EXAMPLE_RAPP, uri=r'rocon:/segbot|turtlebot/')))
# different rapps:
diff_rapp = Resource(rapp='different/rapp', uri=r'rocon:/segbot')
self.assertFalse(res1.match(diff_rapp))
res1.rapps.add('different/rapp')
self.assertTrue(res1.match(diff_rapp))
res1.rapps.remove('different/rapp')
self.assertFalse(res1.match(diff_rapp))
# ROS dependencies
import unique_id
from scheduler_msgs.msg import Request, Resource
from concert_scheduler_requests.transitions import ActiveRequest
# module being tested:
from concert_scheduler_requests.priority_queue import *
# some resources for testing
RQR_ID = uuid.uuid4()
RQ1_UUID = uuid.uuid4()
RQ2_UUID = uuid.uuid4()
EXAMPLE_RAPP = 'tests/example_rapp'
MARVIN_NAME = 'rocon:/turtlebot/marvin'
MARVIN = Resource(uri=MARVIN_NAME, rapp=EXAMPLE_RAPP)
ROBERTO_NAME = 'rocon:/turtlebot/roberto'
ROBERTO = Resource(uri=ROBERTO_NAME, rapp=EXAMPLE_RAPP)
# some useful Resource and Request messages
MARVIN_RESOURCE = Resource(rapp=EXAMPLE_RAPP, uri=MARVIN_NAME)
MARVIN_REQUEST = ActiveRequest(Request(
id=unique_id.toMsg(RQ1_UUID),
resources=[MARVIN_RESOURCE]))
ROBERTO_RESOURCE = Resource(rapp=EXAMPLE_RAPP, uri=ROBERTO_NAME)
ROBERTO_REQUEST = ActiveRequest(Request(
id=unique_id.toMsg(RQ2_UUID),
resources=[ROBERTO_RESOURCE]))
###############################
#!/usr/bin/env python
# dummy scheduler node for requester testing
# enable some python3 compatibility options:
from __future__ import absolute_import, print_function, unicode_literals
import rospy
from scheduler_msgs.msg import Request
from scheduler_msgs.msg import Resource
import rocon_scheduler_requests.scheduler as scheduler
# Constants
TEST_RESOURCE = Resource(name='test_rapp',
platform_info='linux.precise.ros.segbot.roberto')
# Global variables
queued_request = None # pending request
queued_requester = None # corresponding requester ID
sch = None # scheduler object
timer = None # timer request object
def allocate(event):
""" Timer handler: simulated resource availability event. """
global queued_request
global queued_requester
global sch
if queued_request:
queued_request.grant([TEST_RESOURCE])
print('Request granted: ' + str(queued_request.get_uuid()))
#!/usr/bin/env python
""" Scheduler for testing example_requester. """
# enable some python3 compatibility options:
from __future__ import absolute_import, print_function, unicode_literals
import unittest
import rospy
from scheduler_msgs.msg import Request, Resource
from rocon_scheduler_requests import Scheduler
# Resource to grant
TEST_RESOURCE = Resource(rapp='test_rapp', uri='rocon:/turtlebot/roberto')
# Global variables
# :todo: make these class variables
queued_request = None # pending request
queued_requester = None # corresponding requester ID
class TestExampleRequester(unittest.TestCase):
def test_example_requester_(self):
""" Initialize ROCON scheduler node for example requester. """
self.number_of_requests = 3 # number of requests desired
self.queued_request = None
rospy.init_node("test_example_requester")
self.sch = Scheduler(self.callback)
rospy.spin() # spin in the main thread
def allocate(self, event):
""" Timer handler: simulated resource availability event.
import copy
import uuid
import unittest
# ROS dependencies
import unique_id
from scheduler_msgs.msg import Request, Resource
# module being tested:
from concert_scheduler_requests.transitions import *
RQR_UUID = uuid.UUID('01234567-89ab-cdef-0123-456789abcdef')
TEST_UUID = uuid.UUID('01234567-89ab-cdef-fedc-ba9876543210')
DIFF_UUID = uuid.UUID('01234567-cdef-fedc-89ab-ba9876543210')
TEST_RAPP = 'test_rapp'
TEST_RESOURCE = Resource(rapp=TEST_RAPP, uri='rocon:/segbot/roberto')
TEST_WILDCARD = Resource(rapp=TEST_RAPP, uri='rocon:/segbot')
class TestTransitions(unittest.TestCase):
"""Unit tests for scheduler request state transitions.
These tests do not require a running ROS core.
"""
####################
# utility methods
####################
def assert_invalid(self, request_type, old_status, operation, exception,
*args):
"""
# module being tested:
from concert_resource_pool.resource_pool import *
# some definitions for testing
RQ_UUID = uuid.UUID('01234567-89ab-cdef-0123-456789abcdef')
TEST_UUID = unique_id.fromURL('package://concert_simple_scheduler/test_uuid')
DIFF_UUID = unique_id.fromURL('package://concert_simple_scheduler/diff_uuid')
EXAMPLE_RAPP = 'tests/example_rapp'
TELEOP_RAPP = 'rocon_apps/teleop'
TEST_RAPPS = [TELEOP_RAPP, EXAMPLE_RAPP]
TEST_STATUS = CurrentStatus(uri='rocon:/segbot/roberto', rapps=[EXAMPLE_RAPP])
TEST_RESOURCE_NAME = 'rocon:/segbot/roberto'
TEST_RESOURCE = Resource(uri=TEST_RESOURCE_NAME,
id=unique_id.toMsg(TEST_UUID),
rapp=EXAMPLE_RAPP)
TEST_RESOURCE_STRING = ("""rocon:/segbot/roberto, status: 0
owner: None
priority: 0
rapps:
""" + EXAMPLE_RAPP)
TEST_ANOTHER = Resource(uri='rocon:/segbot/marvin', rapp=EXAMPLE_RAPP)
TEST_ANOTHER_NAME = 'rocon:/segbot/marvin'
TEST_ANOTHER_STRING = ("""rocon:/segbot/marvin, status: 0
owner: None
priority: 0
rapps:
""" + EXAMPLE_RAPP)
import uuid
import unittest
# ROS dependencies
import unique_id
from scheduler_msgs.msg import Request
from scheduler_msgs.msg import Resource
# module being tested:
from rocon_scheduler_requests.transitions import *
RQR_UUID = uuid.UUID('01234567-89ab-cdef-0123-456789abcdef')
TEST_UUID = uuid.UUID('01234567-89ab-cdef-fedc-ba9876543210')
DIFF_UUID = uuid.UUID('01234567-cdef-fedc-89ab-ba9876543210')
TEST_RAPP = 'test_rapp'
TEST_RESOURCE = Resource(name=TEST_RAPP,
platform_info='linux.precise.ros.segbot.roberto')
TEST_WILDCARD = Resource(name=TEST_RAPP,
platform_info='linux.precise.ros.segbot.*')
class TestTransitions(unittest.TestCase):
"""Unit tests for scheduler request state transitions.
These tests do not require a running ROS core.
"""
def test_abort(self):
rq1 = ResourceReply(Request(id=unique_id.toMsg(TEST_UUID),
resources=[TEST_RESOURCE],
status=Request.NEW))
rq1.abort()