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How to use a_task method in locust
Best Python code snippet using locust
test_components.py
Source:test_components.py 
1# Copyright 2018 The Kubeflow Authors2#3# Licensed under the Apache License, Version 2.0 (the "License");4# you may not use this file except in compliance with the License.5# You may obtain a copy of the License at6#7# http://www.apache.org/licenses/LICENSE-2.08#9# Unless required by applicable law or agreed to in writing, software10# distributed under the License is distributed on an "AS IS" BASIS,11# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.12# See the License for the specific language governing permissions and13# limitations under the License.14import mock15import os16import requests17import sys18import textwrap19import unittest20from contextlib import contextmanager21from pathlib import Path22from .. import components as comp23from ..components._components import _resolve_command_line_and_paths24from ..components._yaml_utils import load_yaml25from ..components.structures import ComponentSpec26class LoadComponentTestCase(unittest.TestCase):27 def _test_load_component_from_file(self, component_path: str):28 task_factory1 = comp.load_component_from_file(component_path)29 arg1 = 330 arg2 = 531 task1 = task_factory1(arg1, arg2)32 self.assertEqual(task_factory1.__name__, 'Add')33 self.assertEqual(task_factory1.__doc__.strip(), 'Add\nReturns sum of two arguments')34 self.assertEqual(task1.component_ref.spec.implementation.container.image, 'python:3.5')35 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)36 self.assertEqual(resolved_cmd.args[0], str(arg1))37 self.assertEqual(resolved_cmd.args[1], str(arg2))38 def test_load_component_from_yaml_file(self):39 component_path = Path(__file__).parent / 'test_data' / 'python_add.component.yaml'40 self._test_load_component_from_file(str(component_path))41 def test_load_component_from_zipped_yaml_file(self):42 component_path = Path(__file__).parent / 'test_data' / 'python_add.component.zip'43 self._test_load_component_from_file(str(component_path))44 def test_load_component_from_url(self):45 component_path = Path(__file__).parent / 'test_data' / 'python_add.component.yaml'46 component_url = 'https://raw.githubusercontent.com/some/repo/components/component_group/python_add/component.yaml'47 component_bytes = component_path.read_bytes()48 component_dict = load_yaml(component_bytes)49 def mock_response_factory(url, params=None, **kwargs):50 if url == component_url:51 response = requests.Response()52 response.url = component_url53 response.status_code = 20054 response._content = component_bytes55 return response56 raise RuntimeError('Unexpected URL "{}"'.format(url))57 with mock.patch('requests.get', mock_response_factory):58 task_factory1 = comp.load_component_from_url(component_url)59 self.assertEqual(task_factory1.__doc__, component_dict['name'] + '\n' + component_dict['description'])60 arg1 = 361 arg2 = 562 task1 = task_factory1(arg1, arg2)63 self.assertEqual(task1.component_ref.spec.implementation.container.image, component_dict['implementation']['container']['image'])64 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)65 self.assertEqual(resolved_cmd.args[0], str(arg1))66 self.assertEqual(resolved_cmd.args[1], str(arg2))67 def test_loading_minimal_component(self):68 component_text = '''\69implementation:70 container:71 image: busybox72'''73 component_dict = load_yaml(component_text)74 task_factory1 = comp.load_component(text=component_text)75 self.assertEqual(task_factory1.component_spec.implementation.container.image, component_dict['implementation']['container']['image'])76 def test_digest_of_loaded_component(self):77 component_text = textwrap.dedent('''\78 implementation:79 container:80 image: busybox81 '''82 )83 task_factory1 = comp.load_component_from_text(component_text)84 task1 = task_factory1()85 self.assertEqual(task1.component_ref.digest, '1ede211233e869581d098673962c2c1e8c1e4cebb7cf5d7332c2f73cb4900823')86 def test_accessing_component_spec_from_task_factory(self):87 component_text = '''\88implementation:89 container:90 image: busybox91'''92 task_factory1 = comp.load_component_from_text(component_text)93 actual_component_spec = task_factory1.component_spec94 actual_component_spec_dict = actual_component_spec.to_dict()95 expected_component_spec_dict = load_yaml(component_text)96 expected_component_spec = ComponentSpec.from_dict(expected_component_spec_dict)97 self.assertEqual(expected_component_spec_dict, actual_component_spec_dict)98 self.assertEqual(expected_component_spec, task_factory1.component_spec)99 def test_fail_on_duplicate_input_names(self):100 component_text = '''\101inputs:102- {name: Data1}103- {name: Data1}104implementation:105 container:106 image: busybox107'''108 with self.assertRaises(ValueError):109 task_factory1 = comp.load_component_from_text(component_text)110 def test_fail_on_duplicate_output_names(self):111 component_text = '''\112outputs:113- {name: Data1}114- {name: Data1}115implementation:116 container:117 image: busybox118'''119 with self.assertRaises(ValueError):120 task_factory1 = comp.load_component_from_text(component_text)121 def test_handle_underscored_input_names(self):122 component_text = '''\123inputs:124- {name: Data}125- {name: _Data}126implementation:127 container:128 image: busybox129'''130 task_factory1 = comp.load_component_from_text(component_text)131 def test_handle_underscored_output_names(self):132 component_text = '''\133outputs:134- {name: Data}135- {name: _Data}136implementation:137 container:138 image: busybox139'''140 task_factory1 = comp.load_component_from_text(component_text)141 def test_handle_input_names_with_spaces(self):142 component_text = '''\143inputs:144- {name: Training data}145implementation:146 container:147 image: busybox148'''149 task_factory1 = comp.load_component_from_text(component_text)150 def test_handle_output_names_with_spaces(self):151 component_text = '''\152outputs:153- {name: Training data}154implementation:155 container:156 image: busybox157'''158 task_factory1 = comp.load_component_from_text(component_text)159 def test_handle_file_outputs_with_spaces(self):160 component_text = '''\161outputs:162- {name: Output data}163implementation:164 container:165 image: busybox166 fileOutputs:167 Output data: /outputs/output-data168'''169 task_factory1 = comp.load_component_from_text(component_text)170 def test_handle_similar_input_names(self):171 component_text = '''\172inputs:173- {name: Input 1}174- {name: Input_1}175- {name: Input-1}176implementation:177 container:178 image: busybox179'''180 task_factory1 = comp.load_component_from_text(component_text)181 def test_conflicting_name_renaming_stability(self):182 # Checking that already pythonic input names are not renamed183 # Checking that renaming is deterministic184 component_text = textwrap.dedent('''\185 inputs:186 - {name: Input 1}187 - {name: Input_1}188 - {name: Input-1}189 - {name: input_1} # Last in the list, but is pythonic, so it should not be renamed190 implementation:191 container:192 image: busybox193 command:194 - inputValue: Input 1195 - inputValue: Input_1196 - inputValue: Input-1197 - inputValue: input_1198 '''199 )200 task_factory1 = comp.load_component(text=component_text)201 task1 = task_factory1(202 input_1_2='value_1_2',203 input_1_3='value_1_3',204 input_1_4='value_1_4',205 input_1='value_1', # Expecting this input not to be renamed206 )207 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)208 self.assertEqual(resolved_cmd.command, ['value_1_2', 'value_1_3', 'value_1_4', 'value_1'])209 def test_handle_duplicate_input_output_names(self):210 component_text = '''\211inputs:212- {name: Data}213outputs:214- {name: Data}215implementation:216 container:217 image: busybox218'''219 task_factory1 = comp.load_component_from_text(component_text)220 def test_fail_on_unknown_value_argument(self):221 component_text = '''\222inputs:223- {name: Data}224implementation:225 container:226 image: busybox227 args:228 - {inputValue: Wrong}229'''230 with self.assertRaises(TypeError):231 task_factory1 = comp.load_component_from_text(component_text)232 def test_fail_on_unknown_file_output(self):233 component_text = '''\234outputs:235- {name: Data}236implementation:237 container:238 image: busybox239 fileOutputs:240 Wrong: '/outputs/output.txt'241'''242 with self.assertRaises(TypeError):243 task_factory1 = comp.load_component_from_text(component_text)244 def test_load_component_fail_on_no_sources(self):245 with self.assertRaises(ValueError):246 comp.load_component()247 def test_load_component_fail_on_multiple_sources(self):248 with self.assertRaises(ValueError):249 comp.load_component(filename='', text='')250 def test_load_component_fail_on_none_arguments(self):251 with self.assertRaises(ValueError):252 comp.load_component(filename=None, url=None, text=None)253 def test_load_component_from_file_fail_on_none_arg(self):254 with self.assertRaises(TypeError):255 comp.load_component_from_file(None)256 def test_load_component_from_url_fail_on_none_arg(self):257 with self.assertRaises(TypeError):258 comp.load_component_from_url(None)259 def test_load_component_from_text_fail_on_none_arg(self):260 with self.assertRaises(TypeError):261 comp.load_component_from_text(None)262 def test_input_value_resolving(self):263 component_text = '''\264inputs:265- {name: Data}266implementation:267 container:268 image: busybox269 args:270 - --data271 - inputValue: Data272'''273 task_factory1 = comp.load_component(text=component_text)274 task1 = task_factory1('some-data')275 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)276 self.assertEqual(resolved_cmd.args, ['--data', 'some-data'])277 def test_automatic_output_resolving(self):278 component_text = '''\279outputs:280- {name: Data}281implementation:282 container:283 image: busybox284 args:285 - --output-data286 - {outputPath: Data}287'''288 task_factory1 = comp.load_component(text=component_text)289 task1 = task_factory1()290 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)291 self.assertEqual(len(resolved_cmd.args), 2)292 self.assertEqual(resolved_cmd.args[0], '--output-data')293 self.assertTrue(resolved_cmd.args[1].startswith('/'))294 def test_input_path_placeholder_with_constant_argument(self):295 component_text = '''\296inputs:297- {name: input 1}298implementation:299 container:300 image: busybox301 command:302 - --input-data303 - {inputPath: input 1}304'''305 task_factory1 = comp.load_component_from_text(component_text)306 task1 = task_factory1('Text')307 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)308 self.assertEqual(resolved_cmd.command, ['--input-data', resolved_cmd.input_paths['input 1']])309 self.assertEqual(task1.arguments, {'input 1': 'Text'})310 def test_optional_inputs_reordering(self):311 '''Tests optional input reordering.312 In python signature, optional arguments must come after the required arguments.313 '''314 component_text = '''\315inputs:316- {name: in1}317- {name: in2, optional: true}318- {name: in3}319implementation:320 container:321 image: busybox322'''323 task_factory1 = comp.load_component_from_text(component_text)324 import inspect325 signature = inspect.signature(task_factory1)326 actual_signature = list(signature.parameters.keys())327 self.assertSequenceEqual(actual_signature, ['in1', 'in3', 'in2'], str)328 def test_inputs_reordering_when_inputs_have_defaults(self):329 '''Tests reordering of inputs with default values.330 In python signature, optional arguments must come after the required arguments.331 '''332 component_text = '''\333inputs:334- {name: in1}335- {name: in2, default: val}336- {name: in3}337implementation:338 container:339 image: busybox340'''341 task_factory1 = comp.load_component_from_text(component_text)342 import inspect343 signature = inspect.signature(task_factory1)344 actual_signature = list(signature.parameters.keys())345 self.assertSequenceEqual(actual_signature, ['in1', 'in3', 'in2'], str)346 def test_inputs_reordering_stability(self):347 '''Tests input reordering stability. Required inputs and optional/default inputs should keep the ordering.348 In python signature, optional arguments must come after the required arguments.349 '''350 component_text = '''\351inputs:352- {name: a1}353- {name: b1, default: val}354- {name: a2}355- {name: b2, optional: True}356- {name: a3}357- {name: b3, default: val}358- {name: a4}359- {name: b4, optional: True}360implementation:361 container:362 image: busybox363'''364 task_factory1 = comp.load_component_from_text(component_text)365 import inspect366 signature = inspect.signature(task_factory1)367 actual_signature = list(signature.parameters.keys())368 self.assertSequenceEqual(actual_signature, ['a1', 'a2', 'a3', 'a4', 'b1', 'b2', 'b3', 'b4'], str)369 def test_missing_optional_input_value_argument(self):370 '''Missing optional inputs should resolve to nothing'''371 component_text = '''\372inputs:373- {name: input 1, optional: true}374implementation:375 container:376 image: busybox377 command:378 - a379 - {inputValue: input 1}380 - z381'''382 task_factory1 = comp.load_component_from_text(component_text)383 task1 = task_factory1()384 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)385 self.assertEqual(resolved_cmd.command, ['a', 'z'])386 def test_missing_optional_input_file_argument(self):387 '''Missing optional inputs should resolve to nothing'''388 component_text = '''\389inputs:390- {name: input 1, optional: true}391implementation:392 container:393 image: busybox394 command:395 - a396 - {inputPath: input 1}397 - z398'''399 task_factory1 = comp.load_component_from_text(component_text)400 task1 = task_factory1()401 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)402 self.assertEqual(resolved_cmd.command, ['a', 'z'])403 def test_command_concat(self):404 component_text = '''\405inputs:406- {name: In1}407- {name: In2}408implementation:409 container:410 image: busybox411 args:412 - concat: [{inputValue: In1}, {inputValue: In2}]413'''414 task_factory1 = comp.load_component(text=component_text)415 task1 = task_factory1('some', 'data')416 resolved_cmd = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)417 self.assertEqual(resolved_cmd.args, ['somedata'])418 def test_command_if_boolean_true_then_else(self):419 component_text = '''\420implementation:421 container:422 image: busybox423 args:424 - if:425 cond: true426 then: --true-arg427 else: --false-arg428'''429 task_factory1 = comp.load_component(text=component_text)430 task = task_factory1()431 resolved_cmd = _resolve_command_line_and_paths(task.component_ref.spec, task.arguments)432 self.assertEqual(resolved_cmd.args, ['--true-arg']) 433 def test_command_if_boolean_false_then_else(self):434 component_text = '''\435implementation:436 container:437 image: busybox438 args:439 - if:440 cond: false441 then: --true-arg442 else: --false-arg443'''444 task_factory1 = comp.load_component(text=component_text)445 task = task_factory1()446 resolved_cmd = _resolve_command_line_and_paths(task.component_ref.spec, task.arguments)447 self.assertEqual(resolved_cmd.args, ['--false-arg']) 448 def test_command_if_true_string_then_else(self):449 component_text = '''\450implementation:451 container:452 image: busybox453 args:454 - if:455 cond: 'true'456 then: --true-arg457 else: --false-arg458'''459 task_factory1 = comp.load_component(text=component_text)460 task = task_factory1()461 resolved_cmd = _resolve_command_line_and_paths(task.component_ref.spec, task.arguments)462 self.assertEqual(resolved_cmd.args, ['--true-arg']) 463 def test_command_if_false_string_then_else(self):464 component_text = '''\465implementation:466 container:467 image: busybox468 args:469 - if:470 cond: 'false'471 then: --true-arg472 else: --false-arg473'''474 task_factory1 = comp.load_component(text=component_text)475 task = task_factory1()476 resolved_cmd = _resolve_command_line_and_paths(task.component_ref.spec, task.arguments)477 self.assertEqual(resolved_cmd.args, ['--false-arg']) 478 def test_command_if_is_present_then(self):479 component_text = '''\480inputs:481- {name: In, optional: true}482implementation:483 container:484 image: busybox485 args:486 - if:487 cond: {isPresent: In}488 then: [--in, {inputValue: In}]489 #else: --no-in490'''491 task_factory1 = comp.load_component(text=component_text)492 task_then = task_factory1('data')493 resolved_cmd_then = _resolve_command_line_and_paths(task_then.component_ref.spec, task_then.arguments)494 self.assertEqual(resolved_cmd_then.args, ['--in', 'data']) 495 496 task_else = task_factory1()497 resolved_cmd_else = _resolve_command_line_and_paths(task_else.component_ref.spec, task_else.arguments)498 self.assertEqual(resolved_cmd_else.args, [])499 def test_command_if_is_present_then_else(self):500 component_text = '''\501inputs:502- {name: In, optional: true}503implementation:504 container:505 image: busybox506 args:507 - if:508 cond: {isPresent: In}509 then: [--in, {inputValue: In}]510 else: --no-in511'''512 task_factory1 = comp.load_component(text=component_text)513 task_then = task_factory1('data')514 resolved_cmd_then = _resolve_command_line_and_paths(task_then.component_ref.spec, task_then.arguments)515 self.assertEqual(resolved_cmd_then.args, ['--in', 'data']) 516 517 task_else = task_factory1()518 resolved_cmd_else = _resolve_command_line_and_paths(task_else.component_ref.spec, task_else.arguments)519 self.assertEqual(resolved_cmd_else.args, ['--no-in'])520 def test_command_if_input_value_then(self):521 component_text = '''\522inputs:523- {name: Do test, type: Boolean, optional: true}524- {name: Test data, type: Integer, optional: true}525- {name: Test parameter 1, optional: true}526implementation:527 container:528 image: busybox529 args:530 - if:531 cond: {inputValue: Do test}532 then: [--test-data, {inputValue: Test data}, --test-param1, {inputValue: Test parameter 1}]533'''534 task_factory1 = comp.load_component(text=component_text)535 task_then = task_factory1(True, 'test_data.txt', '42')536 resolved_cmd_then = _resolve_command_line_and_paths(task_then.component_ref.spec, task_then.arguments)537 self.assertEqual(resolved_cmd_then.args, ['--test-data', 'test_data.txt', '--test-param1', '42'])538 539 task_else = task_factory1()540 resolved_cmd_else = _resolve_command_line_and_paths(task_else.component_ref.spec, task_else.arguments)541 self.assertEqual(resolved_cmd_else.args, [])542 def test_handle_default_values_in_task_factory(self):543 component_text = '''\544inputs:545- {name: Data, default: '123'}546implementation:547 container:548 image: busybox549 args:550 - {inputValue: Data}551'''552 task_factory1 = comp.load_component_from_text(text=component_text)553 task1 = task_factory1()554 resolved_cmd1 = _resolve_command_line_and_paths(task1.component_ref.spec, task1.arguments)555 self.assertEqual(resolved_cmd1.args, ['123'])556 task2 = task_factory1('456')557 resolved_cmd2 = _resolve_command_line_and_paths(task2.component_ref.spec, task2.arguments)558 self.assertEqual(resolved_cmd2.args, ['456'])559 def test_check_task_spec_outputs_dictionary(self):560 component_text = '''\561outputs:562- {name: out 1}563- {name: out 2}564implementation:565 container:566 image: busybox567 command: [touch, {outputPath: out 1}, {outputPath: out 2}]568'''569 op = comp.load_component_from_text(component_text)570 task = op()571 self.assertEqual(list(task.outputs.keys()), ['out 1', 'out 2'])572 def test_check_task_object_no_output_attribute_when_0_outputs(self):573 component_text = textwrap.dedent('''\574 implementation:575 container:576 image: busybox577 command: []578 ''',579 )580 op = comp.load_component_from_text(component_text)581 task = op()582 self.assertFalse(hasattr(task, 'output'))583 def test_check_task_object_has_output_attribute_when_1_output(self):584 component_text = textwrap.dedent('''\585 outputs:586 - {name: out 1}587 implementation:588 container:589 image: busybox590 command: [touch, {outputPath: out 1}]591 ''',592 )593 op = comp.load_component_from_text(component_text)594 task = op()595 self.assertEqual(task.output.task_output.output_name, 'out 1')596 def test_check_task_object_no_output_attribute_when_multiple_outputs(self):597 component_text = textwrap.dedent('''\598 outputs:599 - {name: out 1}600 - {name: out 2}601 implementation:602 container:603 image: busybox604 command: [touch, {outputPath: out 1}, {outputPath: out 2}]605 ''',606 )607 op = comp.load_component_from_text(component_text)608 task = op()609 self.assertFalse(hasattr(task, 'output'))610 def test_prevent_passing_unserializable_objects_as_argument(self):611 component_text = textwrap.dedent('''\612 inputs:613 - {name: input 1}614 - {name: input 2}615 implementation:616 container:617 image: busybox618 command:619 - prog620 - {inputValue: input 1}621 - {inputPath: input 2}622 '''623 )624 component = comp.load_component_from_text(component_text)625 # Passing normal values to component626 task1 = component(input_1="value 1", input_2="value 2")627 # Passing unserializable values to component628 with self.assertRaises(TypeError):629 component(input_1=task1, input_2="value 2")630 with self.assertRaises(TypeError):631 component(input_1=open, input_2="value 2")632 with self.assertRaises(TypeError):633 component(input_1="value 1", input_2=task1)634 with self.assertRaises(TypeError):635 component(input_1="value 1", input_2=open)636 def test_check_type_validation_of_task_spec_outputs(self):637 producer_component_text = '''\638outputs:639- {name: out1, type: Integer}640- {name: out2, type: String}641implementation:642 container:643 image: busybox644 command: [touch, {outputPath: out1}, {outputPath: out2}]645'''646 consumer_component_text = '''\647inputs:648- {name: data, type: Integer}649implementation:650 container:651 image: busybox652 command: [echo, {inputValue: data}]653'''654 producer_op = comp.load_component_from_text(producer_component_text)655 consumer_op = comp.load_component_from_text(consumer_component_text)656 producer_task = producer_op()657 consumer_op(producer_task.outputs['out1'])658 consumer_op(producer_task.outputs['out2'].without_type())659 consumer_op(producer_task.outputs['out2'].with_type('Integer'))660 with self.assertRaises(TypeError):661 consumer_op(producer_task.outputs['out2'])662 def test_type_compatibility_check_for_simple_types(self):663 component_a = '''\664outputs:665 - {name: out1, type: custom_type}666implementation:667 container:668 image: busybox669 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]670'''671 component_b = '''\672inputs:673 - {name: in1, type: custom_type}674implementation:675 container:676 image: busybox677 command: [echo, {inputValue: in1}]678'''679 task_factory_a = comp.load_component_from_text(component_a)680 task_factory_b = comp.load_component_from_text(component_b)681 a_task = task_factory_a()682 b_task = task_factory_b(in1=a_task.outputs['out1'])683 def test_type_compatibility_check_for_types_with_parameters(self):684 component_a = '''\685outputs:686 - {name: out1, type: {parametrized_type: {property_a: value_a, property_b: value_b}}}687implementation:688 container:689 image: busybox690 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]691'''692 component_b = '''\693inputs:694 - {name: in1, type: {parametrized_type: {property_a: value_a, property_b: value_b}}}695implementation:696 container:697 image: busybox698 command: [echo, {inputValue: in1}]699'''700 task_factory_a = comp.load_component_from_text(component_a)701 task_factory_b = comp.load_component_from_text(component_b)702 a_task = task_factory_a()703 b_task = task_factory_b(in1=a_task.outputs['out1'])704 def test_type_compatibility_check_when_using_positional_arguments(self):705 """Tests that `op2(task1.output)` works as good as `op2(in1=task1.output)`"""706 component_a = '''\707outputs:708 - {name: out1, type: {parametrized_type: {property_a: value_a, property_b: value_b}}}709implementation:710 container:711 image: busybox712 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]713'''714 component_b = '''\715inputs:716 - {name: in1, type: {parametrized_type: {property_a: value_a, property_b: value_b}}}717implementation:718 container:719 image: busybox720 command: [echo, {inputValue: in1}]721'''722 task_factory_a = comp.load_component_from_text(component_a)723 task_factory_b = comp.load_component_from_text(component_b)724 a_task = task_factory_a()725 b_task = task_factory_b(a_task.outputs['out1'])726 def test_type_compatibility_check_when_input_type_is_missing(self):727 component_a = '''\728outputs:729 - {name: out1, type: custom_type}730implementation:731 container:732 image: busybox733 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]734'''735 component_b = '''\736inputs:737 - {name: in1}738implementation:739 container:740 image: busybox741 command: [echo, {inputValue: in1}]742'''743 task_factory_a = comp.load_component_from_text(component_a)744 task_factory_b = comp.load_component_from_text(component_b)745 a_task = task_factory_a()746 b_task = task_factory_b(in1=a_task.outputs['out1'])747 def test_type_compatibility_check_when_argument_type_is_missing(self):748 component_a = '''\749outputs:750 - {name: out1}751implementation:752 container:753 image: busybox754 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]755'''756 component_b = '''\757inputs:758 - {name: in1, type: custom_type}759implementation:760 container:761 image: busybox762 command: [echo, {inputValue: in1}]763'''764 task_factory_a = comp.load_component_from_text(component_a)765 task_factory_b = comp.load_component_from_text(component_b)766 a_task = task_factory_a()767 b_task = task_factory_b(in1=a_task.outputs['out1'])768 def test_fail_type_compatibility_check_when_simple_type_name_is_different(self):769 component_a = '''\770outputs:771 - {name: out1, type: type_A}772implementation:773 container:774 image: busybox775 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]776'''777 component_b = '''\778inputs:779 - {name: in1, type: type_Z}780implementation:781 container:782 image: busybox783 command: [echo, {inputValue: in1}]784'''785 task_factory_a = comp.load_component_from_text(component_a)786 task_factory_b = comp.load_component_from_text(component_b)787 a_task = task_factory_a()788 with self.assertRaises(TypeError):789 b_task = task_factory_b(in1=a_task.outputs['out1'])790 def test_fail_type_compatibility_check_when_parametrized_type_name_is_different(self):791 component_a = '''\792outputs:793 - {name: out1, type: {parametrized_type_A: {property_a: value_a}}}794implementation:795 container:796 image: busybox797 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]798'''799 component_b = '''\800inputs:801 - {name: in1, type: {parametrized_type_Z: {property_a: value_a}}}802implementation:803 container:804 image: busybox805 command: [echo, {inputValue: in1}]806'''807 task_factory_a = comp.load_component_from_text(component_a)808 task_factory_b = comp.load_component_from_text(component_b)809 a_task = task_factory_a()810 with self.assertRaises(TypeError):811 b_task = task_factory_b(in1=a_task.outputs['out1'])812 def test_fail_type_compatibility_check_when_type_property_value_is_different(self):813 component_a = '''\814outputs:815 - {name: out1, type: {parametrized_type: {property_a: value_a}}}816implementation:817 container:818 image: busybox819 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]820'''821 component_b = '''\822inputs:823 - {name: in1, type: {parametrized_type: {property_a: DIFFERENT VALUE}}}824implementation:825 container:826 image: busybox827 command: [echo, {inputValue: in1}]828'''829 task_factory_a = comp.load_component_from_text(component_a)830 task_factory_b = comp.load_component_from_text(component_b)831 a_task = task_factory_a()832 with self.assertRaises(TypeError):833 b_task = task_factory_b(in1=a_task.outputs['out1'])834 @unittest.skip('Type compatibility check currently works the opposite way')835 def test_type_compatibility_check_when_argument_type_has_extra_type_parameters(self):836 component_a = '''\837outputs:838 - {name: out1, type: {parametrized_type: {property_a: value_a, extra_property: extra_value}}}839implementation:840 container:841 image: busybox842 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]843'''844 component_b = '''\845inputs:846 - {name: in1, type: {parametrized_type: {property_a: value_a}}}847implementation:848 container:849 image: busybox850 command: [echo, {inputValue: in1}]851'''852 task_factory_a = comp.load_component_from_text(component_a)853 task_factory_b = comp.load_component_from_text(component_b)854 a_task = task_factory_a()855 b_task = task_factory_b(in1=a_task.outputs['out1'])856 @unittest.skip('Type compatibility check currently works the opposite way')857 def test_fail_type_compatibility_check_when_argument_type_has_missing_type_parameters(self):858 component_a = '''\859outputs:860 - {name: out1, type: {parametrized_type: {property_a: value_a}}}861implementation:862 container:863 image: busybox864 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]865'''866 component_b = '''\867inputs:868 - {name: in1, type: {parametrized_type: {property_a: value_a, property_b: value_b}}}869implementation:870 container:871 image: busybox872 command: [echo, {inputValue: in1}]873'''874 task_factory_a = comp.load_component_from_text(component_a)875 task_factory_b = comp.load_component_from_text(component_b)876 a_task = task_factory_a()877 with self.assertRaises(TypeError):878 b_task = task_factory_b(in1=a_task.outputs['out1'])879 def test_type_compatibility_check_not_failing_when_type_is_ignored(self):880 component_a = '''\881outputs:882 - {name: out1, type: type_A}883implementation:884 container:885 image: busybox886 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]887'''888 component_b = '''\889inputs:890 - {name: in1, type: type_Z}891implementation:892 container:893 image: busybox894 command: [echo, {inputValue: in1}]895'''896 task_factory_a = comp.load_component_from_text(component_a)897 task_factory_b = comp.load_component_from_text(component_b)898 a_task = task_factory_a()899 b_task = task_factory_b(in1=a_task.outputs['out1'].without_type())900 def test_type_compatibility_check_for_types_with_schema(self):901 component_a = '''\902outputs:903 - {name: out1, type: {GCSPath: {openapi_schema_validator: {type: string, pattern: "^gs://.*$" } }}}904implementation:905 container:906 image: busybox907 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]908'''909 component_b = '''\910inputs:911 - {name: in1, type: {GCSPath: {openapi_schema_validator: {type: string, pattern: "^gs://.*$" } }}}912implementation:913 container:914 image: busybox915 command: [echo, {inputValue: in1}]916'''917 task_factory_a = comp.load_component_from_text(component_a)918 task_factory_b = comp.load_component_from_text(component_b)919 a_task = task_factory_a()920 b_task = task_factory_b(in1=a_task.outputs['out1'])921 def test_fail_type_compatibility_check_for_types_with_different_schemas(self):922 component_a = '''\923outputs:924 - {name: out1, type: {GCSPath: {openapi_schema_validator: {type: string, pattern: AAA } }}}925implementation:926 container:927 image: busybox928 command: [bash, -c, 'mkdir -p "$(dirname "$0")"; date > "$0"', {outputPath: out1}]929'''930 component_b = '''\931inputs:932 - {name: in1, type: {GCSPath: {openapi_schema_validator: {type: string, pattern: ZZZ } }}}933implementation:934 container:935 image: busybox936 command: [echo, {inputValue: in1}]937'''938 task_factory_a = comp.load_component_from_text(component_a)939 task_factory_b = comp.load_component_from_text(component_b)940 a_task = task_factory_a()941 with self.assertRaises(TypeError):942 b_task = task_factory_b(in1=a_task.outputs['out1'])943 def test_container_component_without_command_should_warn(self):944 component_a = '''\945name: component without command946inputs:947 - {name: in1, type: String}948implementation:949 container:950 image: busybox951'''952 with self.assertWarnsRegex(953 FutureWarning,954 'Container component must specify command to be compatible with '955 'KFP v2 compatible mode and emissary executor'):956 task_factory_a = comp.load_component_from_text(component_a)957if __name__ == '__main__':...
test_task.py
Source:test_task.py
1# -*- coding: utf-8 -*-2# Copyright 2015 Hewlett-Packard Development Company, L.P.3# Copyright (C) 2013 Yahoo! Inc. All Rights Reserved.4#5# Licensed under the Apache License, Version 2.0 (the "License"); you may6# not use this file except in compliance with the License. You may obtain7# a copy of the License at8#9# http://www.apache.org/licenses/LICENSE-2.010#11# Unless required by applicable law or agreed to in writing, software12# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT13# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the14# License for the specific language governing permissions and limitations15# under the License.16from taskflow import task17from taskflow import test18from taskflow.test import mock19from taskflow.types import notifier20class MyTask(task.Task):21 def execute(self, context, spam, eggs):22 pass23class KwargsTask(task.Task):24 def execute(self, spam, **kwargs):25 pass26class DefaultArgTask(task.Task):27 def execute(self, spam, eggs=()):28 pass29class DefaultProvidesTask(task.Task):30 default_provides = 'def'31 def execute(self):32 return None33class ProgressTask(task.Task):34 def execute(self, values, **kwargs):35 for value in values:36 self.update_progress(value)37class TaskTest(test.TestCase):38 def test_passed_name(self):39 my_task = MyTask(name='my name')40 self.assertEqual('my name', my_task.name)41 def test_generated_name(self):42 my_task = MyTask()43 self.assertEqual('%s.%s' % (__name__, 'MyTask'),44 my_task.name)45 def test_task_str(self):46 my_task = MyTask(name='my')47 self.assertEqual('my==1.0', str(my_task))48 def test_task_repr(self):49 my_task = MyTask(name='my')50 self.assertEqual('<%s.MyTask my==1.0>' % __name__, repr(my_task))51 def test_no_provides(self):52 my_task = MyTask()53 self.assertEqual({}, my_task.save_as)54 def test_provides(self):55 my_task = MyTask(provides='food')56 self.assertEqual({'food': None}, my_task.save_as)57 def test_multi_provides(self):58 my_task = MyTask(provides=('food', 'water'))59 self.assertEqual({'food': 0, 'water': 1}, my_task.save_as)60 def test_unpack(self):61 my_task = MyTask(provides=('food',))62 self.assertEqual({'food': 0}, my_task.save_as)63 def test_bad_provides(self):64 self.assertRaisesRegexp(TypeError, '^Atom provides',65 MyTask, provides=object())66 def test_requires_by_default(self):67 my_task = MyTask()68 expected = {69 'spam': 'spam',70 'eggs': 'eggs',71 'context': 'context'72 }73 self.assertEqual(expected,74 my_task.rebind)75 self.assertEqual(set(['spam', 'eggs', 'context']),76 my_task.requires)77 def test_requires_amended(self):78 my_task = MyTask(requires=('spam', 'eggs'))79 expected = {80 'spam': 'spam',81 'eggs': 'eggs',82 'context': 'context'83 }84 self.assertEqual(expected, my_task.rebind)85 def test_requires_explicit(self):86 my_task = MyTask(auto_extract=False,87 requires=('spam', 'eggs', 'context'))88 expected = {89 'spam': 'spam',90 'eggs': 'eggs',91 'context': 'context'92 }93 self.assertEqual(expected, my_task.rebind)94 def test_requires_explicit_not_enough(self):95 self.assertRaisesRegexp(ValueError, '^Missing arguments',96 MyTask,97 auto_extract=False, requires=('spam', 'eggs'))98 def test_requires_ignores_optional(self):99 my_task = DefaultArgTask()100 self.assertEqual(set(['spam']), my_task.requires)101 self.assertEqual(set(['eggs']), my_task.optional)102 def test_requires_allows_optional(self):103 my_task = DefaultArgTask(requires=('spam', 'eggs'))104 self.assertEqual(set(['spam', 'eggs']), my_task.requires)105 self.assertEqual(set(), my_task.optional)106 def test_rebind_includes_optional(self):107 my_task = DefaultArgTask()108 expected = {109 'spam': 'spam',110 'eggs': 'eggs',111 }112 self.assertEqual(expected, my_task.rebind)113 def test_rebind_all_args(self):114 my_task = MyTask(rebind={'spam': 'a', 'eggs': 'b', 'context': 'c'})115 expected = {116 'spam': 'a',117 'eggs': 'b',118 'context': 'c'119 }120 self.assertEqual(expected, my_task.rebind)121 self.assertEqual(set(['a', 'b', 'c']),122 my_task.requires)123 def test_rebind_partial(self):124 my_task = MyTask(rebind={'spam': 'a', 'eggs': 'b'})125 expected = {126 'spam': 'a',127 'eggs': 'b',128 'context': 'context'129 }130 self.assertEqual(expected, my_task.rebind)131 self.assertEqual(set(['a', 'b', 'context']),132 my_task.requires)133 def test_rebind_unknown(self):134 self.assertRaisesRegexp(ValueError, '^Extra arguments',135 MyTask, rebind={'foo': 'bar'})136 def test_rebind_unknown_kwargs(self):137 task = KwargsTask(rebind={'foo': 'bar'})138 expected = {139 'foo': 'bar',140 'spam': 'spam'141 }142 self.assertEqual(expected, task.rebind)143 def test_rebind_list_all(self):144 my_task = MyTask(rebind=('a', 'b', 'c'))145 expected = {146 'context': 'a',147 'spam': 'b',148 'eggs': 'c'149 }150 self.assertEqual(expected, my_task.rebind)151 self.assertEqual(set(['a', 'b', 'c']),152 my_task.requires)153 def test_rebind_list_partial(self):154 my_task = MyTask(rebind=('a', 'b'))155 expected = {156 'context': 'a',157 'spam': 'b',158 'eggs': 'eggs'159 }160 self.assertEqual(expected, my_task.rebind)161 self.assertEqual(set(['a', 'b', 'eggs']),162 my_task.requires)163 def test_rebind_list_more(self):164 self.assertRaisesRegexp(ValueError, '^Extra arguments',165 MyTask, rebind=('a', 'b', 'c', 'd'))166 def test_rebind_list_more_kwargs(self):167 task = KwargsTask(rebind=('a', 'b', 'c'))168 expected = {169 'spam': 'a',170 'b': 'b',171 'c': 'c'172 }173 self.assertEqual(expected, task.rebind)174 self.assertEqual(set(['a', 'b', 'c']),175 task.requires)176 def test_rebind_list_bad_value(self):177 self.assertRaisesRegexp(TypeError, '^Invalid rebind value',178 MyTask, rebind=object())179 def test_default_provides(self):180 task = DefaultProvidesTask()181 self.assertEqual(set(['def']), task.provides)182 self.assertEqual({'def': None}, task.save_as)183 def test_default_provides_can_be_overridden(self):184 task = DefaultProvidesTask(provides=('spam', 'eggs'))185 self.assertEqual(set(['spam', 'eggs']), task.provides)186 self.assertEqual({'spam': 0, 'eggs': 1}, task.save_as)187 def test_update_progress_within_bounds(self):188 values = [0.0, 0.5, 1.0]189 result = []190 def progress_callback(event_type, details):191 result.append(details.pop('progress'))192 a_task = ProgressTask()193 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, progress_callback)194 a_task.execute(values)195 self.assertEqual(values, result)196 @mock.patch.object(task.LOG, 'warn')197 def test_update_progress_lower_bound(self, mocked_warn):198 result = []199 def progress_callback(event_type, details):200 result.append(details.pop('progress'))201 a_task = ProgressTask()202 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, progress_callback)203 a_task.execute([-1.0, -0.5, 0.0])204 self.assertEqual([0.0, 0.0, 0.0], result)205 self.assertEqual(2, mocked_warn.call_count)206 @mock.patch.object(task.LOG, 'warn')207 def test_update_progress_upper_bound(self, mocked_warn):208 result = []209 def progress_callback(event_type, details):210 result.append(details.pop('progress'))211 a_task = ProgressTask()212 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, progress_callback)213 a_task.execute([1.0, 1.5, 2.0])214 self.assertEqual([1.0, 1.0, 1.0], result)215 self.assertEqual(2, mocked_warn.call_count)216 @mock.patch.object(notifier.LOG, 'warn')217 def test_update_progress_handler_failure(self, mocked_warn):218 def progress_callback(*args, **kwargs):219 raise Exception('Woot!')220 a_task = ProgressTask()221 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, progress_callback)222 a_task.execute([0.5])223 self.assertEqual(1, mocked_warn.call_count)224 def test_register_handler_is_none(self):225 a_task = MyTask()226 self.assertRaises(ValueError, a_task.notifier.register,227 task.EVENT_UPDATE_PROGRESS, None)228 self.assertEqual(0, len(a_task.notifier))229 def test_deregister_any_handler(self):230 a_task = MyTask()231 self.assertEqual(0, len(a_task.notifier))232 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS,233 lambda event_type, details: None)234 self.assertEqual(1, len(a_task.notifier))235 a_task.notifier.deregister_event(task.EVENT_UPDATE_PROGRESS)236 self.assertEqual(0, len(a_task.notifier))237 def test_deregister_any_handler_empty_listeners(self):238 a_task = MyTask()239 self.assertEqual(0, len(a_task.notifier))240 self.assertFalse(a_task.notifier.deregister_event(241 task.EVENT_UPDATE_PROGRESS))242 self.assertEqual(0, len(a_task.notifier))243 def test_deregister_non_existent_listener(self):244 handler1 = lambda event_type, details: None245 handler2 = lambda event_type, details: None246 a_task = MyTask()247 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, handler1)248 self.assertEqual(1, len(list(a_task.notifier.listeners_iter())))249 a_task.notifier.deregister(task.EVENT_UPDATE_PROGRESS, handler2)250 self.assertEqual(1, len(list(a_task.notifier.listeners_iter())))251 a_task.notifier.deregister(task.EVENT_UPDATE_PROGRESS, handler1)252 self.assertEqual(0, len(list(a_task.notifier.listeners_iter())))253 def test_bind_not_callable(self):254 a_task = MyTask()255 self.assertRaises(ValueError, a_task.notifier.register,256 task.EVENT_UPDATE_PROGRESS, 2)257 def test_copy_no_listeners(self):258 handler1 = lambda event_type, details: None259 a_task = MyTask()260 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, handler1)261 b_task = a_task.copy(retain_listeners=False)262 self.assertEqual(1, len(a_task.notifier))263 self.assertEqual(0, len(b_task.notifier))264 def test_copy_listeners(self):265 handler1 = lambda event_type, details: None266 handler2 = lambda event_type, details: None267 a_task = MyTask()268 a_task.notifier.register(task.EVENT_UPDATE_PROGRESS, handler1)269 b_task = a_task.copy()270 self.assertEqual(1, len(b_task.notifier))271 self.assertTrue(a_task.notifier.deregister_event(272 task.EVENT_UPDATE_PROGRESS))273 self.assertEqual(0, len(a_task.notifier))274 self.assertEqual(1, len(b_task.notifier))275 b_task.notifier.register(task.EVENT_UPDATE_PROGRESS, handler2)276 listeners = dict(list(b_task.notifier.listeners_iter()))277 self.assertEqual(2, len(listeners[task.EVENT_UPDATE_PROGRESS]))278 self.assertEqual(0, len(a_task.notifier))279class FunctorTaskTest(test.TestCase):280 def test_creation_with_version(self):281 version = (2, 0)282 f_task = task.FunctorTask(lambda: None, version=version)283 self.assertEqual(version, f_task.version)284 def test_execute_not_callable(self):285 self.assertRaises(ValueError, task.FunctorTask, 2)286 def test_revert_not_callable(self):287 self.assertRaises(ValueError, task.FunctorTask, lambda: None,288 revert=2)289class ReduceFunctorTaskTest(test.TestCase):290 def test_invalid_functor(self):291 # Functor not callable292 self.assertRaises(ValueError, task.ReduceFunctorTask, 2, requires=5)293 # Functor takes no arguments294 self.assertRaises(ValueError, task.ReduceFunctorTask, lambda: None,295 requires=5)296 # Functor takes too few arguments297 self.assertRaises(ValueError, task.ReduceFunctorTask, lambda x: None,298 requires=5)299 def test_functor_invalid_requires(self):300 # Invalid type, requires is not iterable301 self.assertRaises(TypeError, task.ReduceFunctorTask,302 lambda x, y: None, requires=1)303 # Too few elements in requires304 self.assertRaises(ValueError, task.ReduceFunctorTask,305 lambda x, y: None, requires=[1])306class MapFunctorTaskTest(test.TestCase):307 def test_invalid_functor(self):308 # Functor not callable309 self.assertRaises(ValueError, task.MapFunctorTask, 2, requires=5)310 # Functor takes no arguments311 self.assertRaises(ValueError, task.MapFunctorTask, lambda: None,312 requires=5)313 # Functor takes too many arguments314 self.assertRaises(ValueError, task.MapFunctorTask, lambda x, y: None,315 requires=5)316 def test_functor_invalid_requires(self):317 # Invalid type, requires is not iterable318 self.assertRaises(TypeError, task.MapFunctorTask, lambda x: None,...
coordinator.py
Source:coordinator.py
1#!/usr/bin/env python2import rospy3import actionlib4from task import Task, TASK_STATE_DELIVER, TASK_STATE_FETCH_TURTLE, TASK_STATE_GET_ITEM, TASK_STATE_INITIAL, \5 TASK_STATE_POSITION_TURTLE, \6 TASK_STATE_GOAL7from turtle import Turtle8from collections import deque9from tams_ur5_turtlebot_delivery_turtlebot.msg import itemRequest, OnlineTurtle10from tams_ur5_turtlebot_delivery_coordination.msg import PlaceObjectAction, PlaceObjectGoal, taskStatus11from tams_ur5_turtlebot_delivery_coordination.msg import task as task_msg12from geometry_msgs.msg import Pose13ARM_WAITING = 014ARM_LOADING = 115ARM_PLACED = 216ARM_PLACE_FAILED = 317class coordinator(object):18 def __init__(self):19 self.tasks = deque()20 self.tasksAssigned = list()21 self.turtleBots = list()22 self.armState = ARM_WAITING23 rospy.Subscriber("/itemRequest", itemRequest, self.addTask)24 def addTask(self, item_request):25 """26 This method adds a Task to the taskque27 :param item_request: a itemRequest ros message28 :return:29 """30 t = Task(item_request.pose, item_request.item, item_request.uuid)31 rospy.loginfo("New Task: " + str(t))32 self.tasks.append(t)33 # in case new TurtleBot is discovered34 def addTurtleBot(self, bot):35 rospy.loginfo("Added Turtle: " + str(bot))36 self.turtleBots.append(bot)37 # in case TurtleBot didn't send status for too long38 # remove from list so it won't be assigned tasks39 def removeTurtleBot(self, bot):40 self.turtleBots.remove(bot)41 # should be used as callback function from a42 # subscriber node periodically collecting data43 # (subscriber triggered every time data is received?)44 def updateTurtleBotStatus(self, data):45 for turtle in self.turtleBots:46 pass47 # (check for aliveness at this point or periodically?) self.removeTurtleBot()48 # create new bot if not present49 # read Bot specific values out of data and update if necessary50 def assignTask(self):51 if not self.tasks:52 return53 for turtle in self.turtleBots:54 # choose the turtle for the task55 # TODO: informed selection. For now choose the first one56 if not turtle.has_task:57 currentTask = self.tasks.popleft()58 currentTask.assign_turtle(turtle)59 currentTask.state = TASK_STATE_FETCH_TURTLE60 self.tasksAssigned.append(currentTask)61 # only assign one task62 break63 def doneCB(self, state, result):64 if result.status == 0:65 rospy.loginfo("received item")66 self.armState = ARM_PLACED67 else:68 #TODO: error handling69 rospy.loginfo("put item in region of interest")70 rospy.sleep(rospy.Duration(10.0))71 self.armState = ARM_PLACE_FAILED72 def main(self):73 rospy.init_node('coordinator', anonymous=False)74 # subscribe to requests75 task_status_publisher = rospy.Publisher('/taskStatus', taskStatus, queue_size=1)76 #create Proxy to placeActionServer of arm77 client = actionlib.SimpleActionClient('PlaceObject', PlaceObjectAction)78 client.wait_for_server()79 rospy.loginfo("Waiting for a turtle...")80 # TODO: callback to register new turtles instead of waiting for exactly one81 robotmsg = rospy.wait_for_message("/turtles", OnlineTurtle, timeout=None)82 t = Turtle(robotmsg.name, 2.466515241951, 5.809623560960491)83 self.addTurtleBot(t) # -1.23849964142, 4.34559011459))84 rate = rospy.Rate(2)85 while not rospy.is_shutdown():86 self.assignTask()87 for task in self.tasksAssigned[:]:88 if task.state is TASK_STATE_FETCH_TURTLE:89 if task.turtle.go_to_loading():90 task.state = TASK_STATE_POSITION_TURTLE91 if task.state is TASK_STATE_POSITION_TURTLE:92 # TODO: mutually lock docking bay93 if task.turtle.dock():94 rospy.loginfo(task.turtle.name + ": docked")95 task.state = TASK_STATE_GET_ITEM96 goal = PlaceObjectGoal(obj=task.item)97 client.send_goal(goal, self.doneCB)98 self.armState = ARM_LOADING99 rospy.loginfo(task.turtle.name + ": waiting for item to be loaded")100 if task.state is TASK_STATE_GET_ITEM:101 if self.armState is ARM_PLACED:102 task.state = TASK_STATE_DELIVER103 self.armState = ARM_WAITING104 rospy.loginfo(task.turtle.name + ": deliviering")105 elif self.armState is ARM_PLACE_FAILED:106 goal = PlaceObjectGoal(obj=task.item)107 client.send_goal(goal, self.doneCB)108 self.armState = ARM_LOADING109 if task.state is TASK_STATE_DELIVER:110 if task.turtle.goto_goal(task.getGoal().position.x, task.getGoal().position.y):111 task.state = TASK_STATE_GOAL112 rospy.loginfo(task.turtle.name + ": delivered")113 rospy.loginfo(task.turtle.name + ": wait at goal")114 if task.state is TASK_STATE_GOAL:115 if task.turtle.wait_at_goal():116 rospy.loginfo(task.turtle.name + ": successfully completed task")117 task.free_turtle()118 self.tasksAssigned.remove(task)119 for turtle in self.turtleBots:120 if turtle.docked == False and turtle.has_task == False:121 turtle.go_to_waiting()122 123 # send task status124 task_status = taskStatus()125 for a_task in self.tasksAssigned:126 t = task_msg()127 t.pose = a_task.position128 t.item = a_task.item129 t.id = a_task.id130 t.status = a_task.state131 t.num = a_task.taskID132 task_status.tasks.append(t)133 for a_task in self.tasks:134 t = task_msg()135 t.pose = a_task.position136 t.item = a_task.item137 t.id = a_task.id138 t.status = a_task.state139 t.num = a_task.taskID140 task_status.tasks.append(t)141 task_status_publisher.publish(task_status)142 rate.sleep()143if __name__ == '__main__':144 try:145 c = coordinator()146 c.main()147 except rospy.ROSInterruptException:...
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