45 lines
3.6 KiB
Python
45 lines
3.6 KiB
Python
import unittest,tempfile,sys,copy
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from pathlib import Path
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sys.path.insert(0,str(Path(__file__).resolve().parents[1]/'coordinator'))
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from robot_bt_coordinator.service import Coordinator,demo_site
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from robot_bt_coordinator.backends import ManualBackend
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from robot_bt_coordinator.replay import replay_events
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from test_plan_v2 import sample
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class MultiItemTests(unittest.TestCase):
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def setUp(self):
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self.tmp=tempfile.TemporaryDirectory();self.backend=ManualBackend();self.site=demo_site();self.site['execution_route']='OBJECT_TABLE'
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self.c=Coordinator(self.tmp.name+'/tasks.db',self.backend,['r'],self.site)
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def tearDown(self):self.c.close();self.tmp.cleanup()
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def start(self):
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try:t=self.c.submit(dict(client_request_id='q',robot_id='r',instruction='two waters then one doll',known_info=sample()['slots']))
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except Exception as ex:self.fail(str(ex))
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self.tid=t['task_id'];self.c.tick();t=self.c.get(self.tid)
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self.backend.emit(dict(type='plan',task_id=self.tid,task_revision=t['task_revision'],planning_generation=t['planning_generation'],status='PLAN_READY',plan=sample()));self.c.tick()
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self.assertEqual(self.c.get(self.tid)['status'],'EXECUTING')
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def complete(self,**changes):
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t=self.c.get(self.tid);target=t['context']['target_id'];e=dict(type='execution_result',task_id=self.tid,run_id=t['run_id'],status='SUCCEEDED',completed_quantity=1,stop_confirmed=True,evidence=dict(passed=True,empty_hand=True,in_destination=True,valid=True,safe_to_release=True,evidence_id='ev'+t['run_id'],target_ref=target,destination_ref='tote_A'));e.update(changes)
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self.backend.emit(e);self.c.tick();return e
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def test_three_runs_and_idempotent_delivery(self):
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self.start();runs=[]
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for n in range(3):
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runs.append(self.c.get(self.tid)['run_id']);e=self.complete();self.backend.emit(e);self.c.tick()
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self.assertEqual(self.c.get(self.tid)['completed_quantity'],n+1)
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t=self.c.get(self.tid);self.assertEqual(t['status'],'SUCCEEDED');self.assertEqual(len(set(runs)),3)
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self.assertEqual([x['context']['target_id'] for x in self.backend.executions],['water','water','doll'])
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self.assertEqual(replay_events(self.c.events(self.tid,limit=500))['completed_quantity'],3)
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def test_partial_failure_retains_quantity_and_blocks_queue(self):
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self.start();self.complete();self.complete(status='INTERVENTION_REQUIRED',stop_confirmed=False,completed_quantity=0)
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t=self.c.get(self.tid);self.assertEqual(t['status'],'INTERVENTION_REQUIRED');self.assertEqual(t['completed_quantity'],1);self.assertEqual(len(self.backend.executions),2)
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def test_cancel_racing_success_does_not_start_next_item(self):
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self.start();self.c.control(self.tid,'cancel');self.complete()
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self.assertEqual(self.c.get(self.tid)['status'],'CANCELED');self.assertEqual(len(self.backend.executions),1)
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def test_restart_after_partial_delivery_requires_reconciliation(self):
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self.start();self.complete();self.c.close();self.backend=ManualBackend()
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self.c=Coordinator(self.tmp.name+'/tasks.db',self.backend,['r'],self.site)
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self.assertEqual(self.c.get(self.tid)['status'],'INTERVENTION_REQUIRED');self.assertEqual(self.c.get(self.tid)['completed_quantity'],1)
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self.c.tick();self.assertEqual(self.backend.executions,[])
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def test_advisory_progress_cannot_commit_delivery(self):
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self.start();t=self.c.get(self.tid)
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self.backend.emit(dict(type='advisory',task_id=self.tid,run_id=t['run_id'],state='RUNNING',progress=1.));self.c.tick()
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self.assertEqual(self.c.get(self.tid)['status'],'EXECUTING');self.assertEqual(self.c.get(self.tid)['completed_quantity'],0)
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