38 lines
2.6 KiB
Python
38 lines
2.6 KiB
Python
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#!/usr/bin/env python3
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"""HTTP -> RoboBrain domain service fixture -> sequential C++ routes -> replay."""
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import json,sys,tempfile,time,threading,urllib.request
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from pathlib import Path
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ROOT=Path(__file__).resolve().parents[1];sys.path[:0]=[str(ROOT/'coordinator'),str(ROOT/'robobrain')]
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from robot_robobrain.demo_backend import BrainDemoBackend
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from robot_bt_coordinator.service import Coordinator
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from robot_bt_coordinator.http_api import make_server
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from robot_bt_coordinator.replay import replay_events
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def run(route):
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with tempfile.TemporaryDirectory() as tmp:
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site=json.loads((ROOT/'config'/('sim_site_'+route.lower()+'.json')).read_text())
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backend=BrainDemoBackend(ROOT/'build/bt_demo',tmp+'/sim',site)
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c=Coordinator(tmp+'/tasks.db',backend,['robot_01'],site)
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server=make_server(c,'127.0.0.1',0,'simulation-token');thread=threading.Thread(target=server.serve_forever,daemon=True);thread.start()
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base='http://127.0.0.1:'+str(server.server_port)
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def api(path,body=None):
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req=urllib.request.Request(base+path,data=None if body is None else json.dumps(body).encode(),headers={'Authorization':'Bearer simulation-token','Content-Type':'application/json'})
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with urllib.request.urlopen(req,timeout=3) as r:return json.load(r)
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try:
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request=json.loads((ROOT/'config/demo_multi_request.json').read_text());t=api('/v1/tasks',request);tid=t['task_id'];deadline=time.monotonic()+20
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while time.monotonic()<deadline:
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c.tick();t=api('/v1/tasks/'+tid)
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if t['status'] in ('SUCCEEDED','FAILED','INTERVENTION_REQUIRED'):break
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time.sleep(.01)
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assert t['status']=='SUCCEEDED',t
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assert t['completed_quantity']==3 and len(backend.executions)==3
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assert len({x['run_id'] for x in backend.executions})==3
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assert [x['context']['target_id'] for x in backend.executions]==['water','water','doll']
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assert api('/v1/tasks',request)['deduplicated']
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audit=replay_events(c.events(tid,limit=500));assert audit['completed_quantity']==3
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assert len(list((Path(tmp)/'sim/planning_records').glob('*.json')))==1
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assert api('/v1/capabilities')['quantity_max']==20
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return {'route':route,'status':t['status'],'delivered':3,'independent_runs':3,'replay':audit['status'],'model':'fixture','motion':'simulated'}
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finally:server.shutdown();thread.join();server.server_close();c.close()
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if __name__=='__main__':print(json.dumps([run(r) for r in ('OBJECT_TABLE','SHELF_CELL')],indent=2))
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