The code below is a unit test code to test the original code
import unittest
from drones import Drone, DroneStore
class DroneTest(unittest.TestCase):
def test_add_success(self):
drone = Drone('Drone1', 1, False)
store = DroneStore()
store.add(drone)
self.assertEqual(drone, store.get(1))
print(store.get(1).name)
def test_add_raiseException_true(self):
drone = Drone('Drone1', 1, False)
store = DroneStore()
store.add(drone)
self.assertEqual(drone, store.get(1))
with self.assertRaises(Exception) as context:
store.add(drone)
self.assertTrue('Drone already exists in store' in str(context.exception)
def test_remove_success(self):
drone = Drone('Drone1', 1, False)
store = DroneStore()
store.add(drone)
self.assertEqual(drone, store.get(1))
print(store.get(1).name)
store.remove(drone)
if __name__ == '__main__':
unittest.main()
This is the partial original code I get :
It looks like I get error from the function named "test_add_raiseException_true", this function is created to test if the 'add' function from original code raises an exception if a drone is already exist in the store
Related
I've been trying to create a TrajectorySource for RigidTransforms to pass into a DifferentialInverseKinematicsIntegrator which only takes in RigidTransforms in its input port.
def createTraj(time, pose):
times = []
poses = []
for step in time:
times.append(time[step])
poses.append(pose[step])
return PiecewisePose.MakeLinear(times, poses)
Initially, I tried to directly pass in the output from createTraj above into TrajectorySource but ran into the issue of my trajectory having more than one columns: Failure at systems/primitives/trajectory_source.cc:21 in TrajectorySource(): condition 'trajectory.cols() == 1' failed.
import matplotlib.pyplot as plt, mpld3
class DexterTest():
# Output from createTraj is passed as parameter: traj into constructor
def __init__(self, traj):
builder = DiagramBuilder()
self.station = DexterPPStation(1e-4, "/opt/drake/share/drake/manipulation/models/final_dexter_description/urdf/dexter.urdf")
self.station.CreateBins("/opt/drake/share/drake/examples/manipulation_station/models/bin.sdf", RigidTransform(np.array([0.5,0,0])), RigidTransform(np.array([0,0.5,0])))
self.station.CreateRandomPickingObjects(3)
self.station.AddDexter()
builder.AddSystem(self.station)
self.station.Finalize()
self.diff_ik = DifferentialInverseKinematicsIntegrator(self.station.controller_plant, self.station.plant.GetFrameByName("link6", self.station.dexter["instance"]), self.station.time_step, DifferentialInverseKinematicsParameters(7,7))
builder.AddSystem(self.diff_ik)
#=========================================== Likely Source of Error ===========================================
pose = builder.AddSystem(PoseSystem())
p_G_source = builder.AddSystem(TrajectorySource(traj.get_position_trajectory()))
w_G_source = builder.AddSystem(TrajectorySource(traj.get_orientation_trajectory()))
builder.Connect(p_G_source.get_output_port(), pose.GetInputPort("p_G"))
builder.Connect(w_G_source.get_output_port(), pose.GetInputPort("r_G"))
builder.Connect(pose.get_output_port(), self.diff_ik.get_input_port())
#======================================================================================
MeshcatVisualizerCpp.AddToBuilder(builder, self.station.GetOutputPort("query_object"), meshcat)
self.diagram = builder.Build()
self.simulator = Simulator(self.diagram)
self.diagram_context = self.simulator.get_mutable_context()
self.station_context = self.station.GetMyMutableContextFromRoot(self.diagram_context)
self.plant_context = self.station.GetSubsystemContext(self.station.plant, self.station_context)
self.station.SetRandomPoses(self.plant_context)
builder.Connect(self.diff_ik.get_output_port(), self.station.GetInputPort("dexter_position"))
def run(self):
self.simulator.set_target_realtime_rate(2.0)
self.simulator.AdvanceTo(1)
class PoseSystem(LeafSystem):
def __init__(self):
LeafSystem.__init__(self)
self.p_G = self.DeclareVectorInputPort("p_G", BasicVector(3))
self.r_G = self.DeclareVectorInputPort("r_G", BasicVector(4))
self.DeclareAbstractOutputPort("X_G", Value[RigidTransform], self.CalcOutput)
def CalcOutput(self, context, output):
pose = RigidTransform(Quaternion(self.r_G.Eval(context)), self.p_G.Eval(context))
output.set_value(pose)
Instead, I tried to break up my trajectory into its orientation and position parts, add them to the input ports of a custom system, and then reconstruct them together in the output port. However, this gives me the following RuntimeError once the run method is called: RuntimeError: This multibody element does not belong to the supplied MultibodyTree.
Any help would be greatly appreciated!
I think you are very close. The PoseSystem looks like it should be a solution to the problem you've articulated in your post. (The error about MultibodyTree must be coming from the other part of your code.
You don't actually need to break the RigidTransform up into orientation / translation to create your PoseSystem, your CalcOutput could just call output.set_value(poses.Eval(t)) if poses is a PiecewisePose trajectory.
I have an example of doing this in the PickAndPlaceTrajectory class in this notebook: https://github.com/RussTedrake/manipulation/blob/008cec6343dd39063705287e6664a3fee71a43b8/pose.ipynb
Let's say we have a concurrent SMACH container sm_con which includes two state machines SM1 and SM2. I need to find a way for SM1 to continuously update some data and for SM2 to access (and eventually also modify) the same data. I thought about solving this by passing the userdata of sm_con to SM1 and SM2 as input- and output-keys hoping that if SM1 modifies the data it would automatically overwrite sm_cons userdata (kind of like working with pointers in c++) but this doesn't work.
The corresponding code would look like this:
import smach
import smach_ros
import rospy
class st1(smach.State):
def __init__(self, outcomes=['successful', 'preempted']):
smach.State.__init__(self, outcomes, input_keys=['in_test'], output_keys=['out_test'])
def execute(self, userdata):
if self.preempt_requested():
self.service_preempt()
return 'preempted'
rospy.logerr('test 1: '+str(userdata.in_test))
userdata.out_test=userdata.in_test+1
return 'successful'
class st2(smach.State):
def __init__(self, outcomes=['successful', 'preempted']):
smach.State.__init__(self, outcomes, input_keys=['in_test'])
def execute(self, userdata):
#time.sleep(2)
if self.preempt_requested():
self.service_preempt()
return 'preempted'
rospy.logerr('test 2: ' + str(userdata.in_test))
return 'successful'
if __name__=="__main__":
rospy.init_node('test_state_machine')
sm_con = smach.Concurrence(outcomes=['success'],
default_outcome='success'
)
sm_con.userdata.testdata = 0
with sm_con:
sm_1 = smach.StateMachine(outcomes=['success', 'preempted'], input_keys=['testdata'], output_keys=['testdata'])
with sm_1:
smach.StateMachine.add('ST1', st1(),
remapping={'in_test': 'testdata', 'out_test': 'testdata'},
transitions={'successful': 'ST1'})
sm_2 = smach.StateMachine(outcomes=['success', 'preempted'], input_keys=['testdata'])
with sm_2:
smach.StateMachine.add('ST2', st2(),
remapping={'in_test':'testdata'},
transitions={'successful': 'ST2'})
smach.Concurrence.add('SM1', sm_1)
smach.Concurrence.add('SM2', sm_2)
# Execute SMACH plan
outcome = sm_con.execute()
print('exit-outcome:' + outcome)
# Wait for ctrl-c to stop the application
rospy.spin()
Running this code, the output 'test 1: ...' shows that inside SM1 the userdata gets incremented while the output 'test 2: ...' shows that SM2 doesn't access the incremented data as the output remains 0.
How can I modify some data in SM1 and access the modified data in SM2?
I found a workaround for this using mutable objects like described here.
Applied on the code above, it would look like the following:
import smach
import smach_ros
import rospy
class st1(smach.State):
def __init__(self, outcomes=['successful', 'preempted']):
smach.State.__init__(self, outcomes, input_keys=['in_test'])
def execute(self, userdata):
if self.preempt_requested():
self.service_preempt()
return 'preempted'
rospy.logerr('test 1: '+str(userdata.in_test))
userdata.in_test[0]=userdata.in_test[0]+1
return 'successful'
class st2(smach.State):
def __init__(self, outcomes=['successful', 'preempted']):
smach.State.__init__(self, outcomes, input_keys=['in_test'])
def execute(self, userdata):
#time.sleep(2)
if self.preempt_requested():
self.service_preempt()
return 'preempted'
rospy.logerr('test 2: ' + str(userdata.in_test[0]))
return 'successful'
if __name__=="__main__":
rospy.init_node('test_state_machine')
sm_con = smach.Concurrence(outcomes=['success'],
default_outcome='success'
)
sm_con.userdata.testdata = [0]
with sm_con:
sm_1 = smach.StateMachine(outcomes=['success', 'preempted'], input_keys=['testdata'])
with sm_1:
smach.StateMachine.add('ST1', st1(),
remapping={'in_test': 'testdata'},
transitions={'successful': 'ST1'})
sm_2 = smach.StateMachine(outcomes=['success', 'preempted'], input_keys=['testdata'])
with sm_2:
smach.StateMachine.add('ST2', st2(),
remapping={'in_test':'testdata'},
transitions={'successful': 'ST2'})
smach.Concurrence.add('SM1', sm_1)
smach.Concurrence.add('SM2', sm_2)
# Execute SMACH plan
outcome = sm_con.execute()
print('exit-outcome:' + outcome)
# Wait for ctrl-c to stop the application
rospy.spin()
Since this is only a workaround, refer to my corresponding issue-post here for more information.
I have an django app route that will run a pytest.main() command if some conditions are met:
def run_single_test(request, single_test_name):
# get dict of test names, test paths
test_dict = get_single_test_names()
# check to see if test is in the dict
if single_test_name in test_dict:
for test_name,test_path in test_dict.items():
# if testname is valid run associated test
if test_name == single_test_name:
os.chdir('/lib/tests/')
run_test = pytest.main(['-v', '--json-report', test_path])
else:
return 'The requested test could not be found.'
I would like to include a unit test that validates run_test has been executed.
What is the best approach to doing this? Mock and unittest are new to me.
I tried messing around with stdout:
def test_run_single_test_flow_control(self):
mock_get = patch('test_automation_app.views.get_single_test_names')
mock_get = mock_get.start()
mock_get.return_value = {'test_search': 'folder/test_file.py::TestClass::test'}
results = run_single_test('this-request', 'test_search')
output = sys.stdout
self.assertEqual(output, '-v --json-report folder/test_file.py::TestClass::test')
but this returns:
<_pytest.capture.EncodedFile object at XXXXXXXXXXXXXX>
Here are two example tests that verify that pytest.main is invoked when a valid test name is passed and not invoked otherwise. I also added some different invocations of mock_pytest_main.assert_called as an example; they all do pretty much the same, with extra check for args that were passed on function call. Hope this helps you to write more complex tests!
from unittest.mock import patch
from test_automation_app.views import run_single_test
def test_pytest_invoked_when_test_name_valid():
with patch('pytest.main') as mock_pytest_main, patch('test_automation_app.views.get_single_test_names') as mock_get:
mock_get.return_value = {'test_search': 'folder/test_file.py::TestClass::test'}
results = run_single_test('this-request', 'test_search')
mock_pytest_main.assert_called()
mock_pytest_main.assert_called_with(['-v', '--json-report', 'folder/test_file.py::TestClass::test'])
mock_pytest_main.assert_called_once()
mock_pytest_main.assert_called_once_with(['-v', '--json-report', 'folder/test_file.py::TestClass::test'])
def test_pytest_not_invoked_when_test_name_invalid():
with patch('pytest.main') as mock_pytest_main, patch('test_automation_app.views.get_single_test_names') as mock_get:
mock_get.return_value = {'test_search': 'folder/test_file.py::TestClass::test'}
results = run_single_test('this-request', 'test_non_existent')
mock_pytest_main.assert_not_called()
I have a function called analyze() which is like following:
def analyze():
for stmt in irsb.statements:
if isinstance(stmt, pyvex.IRStmt.WrTmp):
wrtmp(stmt)
if isinstance(stmt, pyvex.IRStmt.Store):
address = stmt.addr
address1 = '{}'.format(address)[1:]
print address1
data = stmt.data
data1 = '{}'.format(data)[1:]
tmp3 = store64(address1, int64(data1))
if isinstance(stmt, pyvex.IRStmt.Put):
expr = stmt.expressions[0]
putoffset = stmt.offset
data = stmt.data
data4 = '{}'.format(data)[1:]
if (str(data).startswith("0x")):
#const_1 = ir.Constant(int64, data4)
tmp = put64(putoffset, ZERO_TAG)
else:
put64(putoffset, int64(data4))
if isinstance(stmt.data, pyvex.IRExpr.Const):
reg_name = irsb.arch.translate_register_name(stmt.offset, stmt.data.result_size(stmt.data.tag))
print reg_name
stmt.pp()
This code function gets following input and try to analyze it:
CODE = b"\xc1\xe0\x05"
irsb = pyvex.block.IRSB(CODE, 0x80482f0, archinfo.ArchAMD64())
When this input is in the same file in my code (lets call the whole as analyze.py) it works and python analyze.py will make me an output. However, I want to make a seperate file(call array.py), call analyze there and also put the inputs inside it and run python array.py to get the same result. I did the following for array.py:
from analyze import analyze
CODE = b"\xc1\xe0\x05"
irsb = pyvex.block.IRSB(CODE, 0x80482f0, archinfo.ArchAMD64())
analyze()
However, when I run the array.py, it stops me with error;
NameError: name 'CODE' is not defined
how can I resolve this problem? What is the solution?
A simple change in your function, add parameters:
def analyze(irsb): # irsb here called parameter
...
# The rest is the same
And then pass arguments when calling it:
from analyze import analyze
CODE = b"\xc1\xe0\x05"
irsb_as_arg = pyvex.block.IRSB(CODE, 0x80482f0, archinfo.ArchAMD64())
analyze(irsb_as_arg) # irsb_as_arg is an argument
I have just changed here irsb to irsb_as_arg to take attention, but it can be the same name
I have two Scripts. Script 1 is titled schemeDetails.The second script is a test script called temporaryFile that creates a schemeSetup object using the schemeSetup class which is within schemeDetails. Everything is hunky dory up to the point where I try to acess the method insertScheme which is within the schemeSetup Class.
I have imported the schemeDetails script using the following:
import schemeDetails
reload(schemeDetails)
from schemeDetails import *
I can create the schemeDetails Object and access its attributes
d = schemeDetails.schemeSetup() -- fine
print(d.scheme) -- fine
d.insertScheme() -- throws error
but trying to call the insertScheme function throws an error
I don't know why this is happening as the import statement looks above board to me. Any advice appreciated
from sikuli import *
import os
class schemeSetup(object):
#Uses default values
def __init__(
self,
scheme = "GM",
cardNumber = "1234567A",
month = "December",
year = "2015",
setSchemeAsDefault = True):
#Provide default values for parameters
self.scheme = scheme
self.cardNumber = cardNumber
self.month = month
self.year = year
self.setSchemeAsDefault = setSchemeAsDefault
#schemeDetails is not a sub
# class of patient. It is simply defined within the patient class
# - there is a huge difference.
#====================================================#
#schemeDetails Function
def insertScheme(self):
print("insertScheme Works")
#r = Regions()
#r.description("Patient Maintenance", "schemeDetails")
#myRegion = r.createRegion()
#myRegion.highlight(1)
#click(myRegion.find(insertSchemeButton))
#click(myRegion.find(blankSchemeEntry))
#type(self.scheme + Key.ENTER + Key.ENTER)
#type(self.cardNumber + Key.ENTER)
#type(self.month + Key.ENTER)
#type(self.year + Key.ENTER)
#type(" ")
#unticks HT link, HT linking should be in a separate function
#====================================================#
#schemeDetails Function
def editScheme(self):
print("editScheme Works")
#====================================================#
def deleteScheme(self):
pass
#====================================================#
It may be of importance that calling either of the bottom functions does not produce an error. If I put print("Hello") under editScheme, and call that method using s.editScheme the program compiles but I get no output. If I run print(s.editScheme) it returns None
Well it seems to be fixed now after changing the import format to this
import schemeDetails
from schemeDetails import schemeSetup
s = schemeDetails.schemeSetup()