cpee 2.0.19 → 2.0.20

data/tools/test/templates/Track Test.xml

@@ -0,0 +1,82 @@
+<testset xmlns="http://cpee.org/ns/properties/2.0">
+  <dataelements>
+    <i>0</i>
+  </dataelements>
+  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
+  <endpoints>
+    <start_url>https://cpee.org/flow/start/url/</start_url>
+  </endpoints>
+  <positions/>
+  <description>
+    <description xmlns="http://cpee.org/ns/description/1.0">
+      <loop mode="pre_test" condition="true">
+        <parallel wait="-1">
+          <loop mode="pre_test" condition="data.i &lt; 4">
+            <_probability>
+              <_probability_min/>
+              <_probability_max/>
+              <_probability_avg/>
+            </_probability>
+            <parallel_branch pass="" local="">
+              <call id="a1" endpoint="start_url">
+                <parameters>
+                  <label>Start</label>
+                  <method>:post</method>
+                  <arguments>
+                    <behavior>wait_running</behavior>
+                    <url>https://cpee.org/flow/templates/instantiate/Take_Sub.xml</url>
+                    <init>
+                      <time>4</time>
+                    </init>
+                    <endpoints/>
+                    <stream/>
+                  </arguments>
+                  <stream>
+                    <sensors/>
+                    <aggregators/>
+                    <costs/>
+                  </stream>
+                  <report>
+                    <url/>
+                  </report>
+                </parameters>
+                <annotations>
+                  <_timing>
+                    <_timing_wait/>
+                    <_timing_threshold/>
+                    <_timing_min/>
+                    <_timing_max/>
+                    <_timing_avg/>
+                  </_timing>
+                  <_notes>
+                    <_notes_general/>
+                  </_notes>
+                </annotations>
+              </call>
+            </parallel_branch>
+            <manipulate id="a4" label="">data.i += 1</manipulate>
+          </loop>
+        </parallel>
+        <manipulate id="a3" label="">data.i = 0</manipulate>
+        <_probability>
+          <_probability_min/>
+          <_probability_max/>
+          <_probability_avg/>
+        </_probability>
+        <stop id="a2"/>
+      </loop>
+    </description>
+  </description>
+  <transformation>
+    <description type="copy"/>
+    <dataelements type="none"/>
+    <endpoints type="none"/>
+  </transformation>
+  <attributes>
+    <info>Track Test</info>
+    <modeltype>CPEE</modeltype>
+    <theme>default</theme>
+    <customer>pilotfabrik</customer>
+    <status>development</status>
+  </attributes>
+</testset>

data/tools/test/templates/UR-VUE 2020 Manual Adjust.xml

@@ -0,0 +1,182 @@
+<testset xmlns="http://cpee.org/ns/properties/2.0">
+  <dataelements/>
+  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
+  <endpoints>
+    <overview>http-put://ryloth.wst.univie.ac.at:9329/move/overview</overview>
+    <move_tool>http-put://ryloth.wst.univie.ac.at:9329/move/position/point</move_tool>
+    <move_camera>http-put://ryloth.wst.univie.ac.at:9329/move/position/view</move_camera>
+    <get_items_base>http-get://ryloth.wst.univie.ac.at:9329/view/items</get_items_base>
+    <get_items_neural>http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
+    <get_offset_base>http-get://ryloth.wst.univie.ac.at:9329/view/details</get_offset_base>
+    <get_offset_neural>http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
+    <grip_and_place>http-put://ryloth.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
+    <move_rel>http-put://ryloth.wst.univie.ac.at:9329/move/position/relative</move_rel>
+  </endpoints>
+  <description>
+    <description xmlns="http://cpee.org/ns/description/1.0">
+      <call id="a6" endpoint="get_offset_base">
+        <parameters>
+          <label>Get first offset</label>
+          <arguments/>
+          <stream>
+            <sensors/>
+            <aggregators/>
+            <costs/>
+          </stream>
+        </parameters>
+        <code>
+          <prepare/>
+          <finalize output="result">data.direction_first = result
+data.direction_first['x'] = data.direction_first['dir_x'] * 6
+data.direction_first['y'] = data.direction_first['dir_y'] * 6</finalize>
+          <update output="result"/>
+          <rescue output="result"/>
+        </code>
+        <annotations>
+          <_timing>
+            <_timing_wait/>
+            <_timing_threshold/>
+            <_timing_min/>
+            <_timing_max/>
+            <_timing_avg/>
+          </_timing>
+          <_notes>
+            <_notes_general/>
+          </_notes>
+        </annotations>
+      </call>
+      <call id="a10" endpoint="move_rel">
+        <parameters>
+          <label>Move closer</label>
+          <arguments>
+            <x>!data.direction_first['x']</x>
+            <y>!data.direction_first['y']</y>
+          </arguments>
+          <stream>
+            <sensors/>
+            <aggregators/>
+            <costs/>
+          </stream>
+        </parameters>
+        <annotations>
+          <_timing>
+            <_timing_wait/>
+            <_timing_threshold/>
+            <_timing_min/>
+            <_timing_max/>
+            <_timing_avg/>
+          </_timing>
+          <_notes>
+            <_notes_general/>
+          </_notes>
+        </annotations>
+      </call>
+      <call id="a17" endpoint="get_offset_base">
+        <parameters>
+          <label>Get second offset and calc distance</label>
+          <arguments/>
+          <stream>
+            <sensors/>
+            <aggregators/>
+            <costs/>
+          </stream>
+        </parameters>
+        <code>
+          <prepare/>
+          <finalize output="result">data.direction_second = result
+if (data.direction_first['dir_x'] * data.direction_second['dir_x'] &gt;= 0)
+  data.traveled = data.direction_first['len'] - data.direction_second['len']
+else
+  data.traveled = data.direction_first['len'] + data.direction_second['len']
+end
+data.len = data.direction_second['len'] / (data.traveled / 6)
+data.direction_second['x'] = data.direction_second['dir_x'] * data.len
+data.direction_second['y'] = data.direction_second['dir_y'] * data.len</finalize>
+          <update output="result"/>
+          <rescue output="result"/>
+        </code>
+        <annotations>
+          <_timing>
+            <_timing_wait/>
+            <_timing_threshold/>
+            <_timing_min/>
+            <_timing_max/>
+            <_timing_avg/>
+          </_timing>
+          <_notes>
+            <_notes_general/>
+          </_notes>
+        </annotations>
+      </call>
+      <call id="a12" endpoint="move_rel">
+        <parameters>
+          <label>Move closer</label>
+          <arguments>
+            <x>!data.direction_second['x']</x>
+            <y>!data.direction_second['y']</y>
+          </arguments>
+          <stream>
+            <sensors/>
+            <aggregators/>
+            <costs/>
+          </stream>
+        </parameters>
+        <annotations>
+          <_timing>
+            <_timing_wait/>
+            <_timing_threshold/>
+            <_timing_min/>
+            <_timing_max/>
+            <_timing_avg/>
+          </_timing>
+          <_notes>
+            <_notes_general/>
+          </_notes>
+        </annotations>
+      </call>
+      <call id="a2" endpoint="get_offset_base">
+        <parameters>
+          <label>Investigate Precision</label>
+          <arguments/>
+          <stream>
+            <sensors/>
+            <aggregators/>
+            <costs/>
+          </stream>
+        </parameters>
+        <code>
+          <prepare/>
+          <finalize output="result">data.direction_third = result</finalize>
+          <update output="result"/>
+          <rescue output="result">'Oh no!'</rescue>
+        </code>
+        <annotations>
+          <_timing>
+            <_timing_wait/>
+            <_timing_threshold/>
+            <_timing_min/>
+            <_timing_max/>
+            <_timing_avg/>
+          </_timing>
+          <_notes>
+            <_notes_general/>
+          </_notes>
+        </annotations>
+      </call>
+      <manipulate id="a11" label="Calculate new position">data.item = {}
+data.item['adjust_x'] = (data.direction_first['x'] + data.direction_second['x']).round(0)
+data.item['adjust_y'] = (data.direction_first['y'] + data.direction_second['y']).round(0)</manipulate>
+    </description>
+  </description>
+  <transformation>
+    <description type="copy"/>
+    <dataelements type="none"/>
+    <endpoints type="none"/>
+  </transformation>
+  <attributes>
+    <info>UR-VUE 2020 Manual Adjust</info>
+    <modeltype>CPEE</modeltype>
+    <theme>preset</theme>
+    <resource>ur51</resource>
+  </attributes>
+</testset>

data/tools/test/templates/UR-VUE 2020 Solution Baseline.xml

@@ -0,0 +1,203 @@
+<testset xmlns="http://cpee.org/ns/properties/2.0">
+  <dataelements>
+    <places>[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2],[0,3],[1,3],[0,4],[1,4],[0,5],[1,5]]</places>
+  </dataelements>
+  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
+  <handlers>
+    <handler url="http://tango.wst.univie.ac.at:9332">
+      <votes topic='state'>change</votes>
+      <events topic='state'>change</events>
+      <events topic='task'>instantiation</events>
+    </handler>
+  </handlers>
+  <endpoints>
+    <overview>http-put://ryloth.wst.univie.ac.at:9329/move/overview</overview>
+    <move_tool>http-put://ryloth.wst.univie.ac.at:9329/move/position/point</move_tool>
+    <move_camera>http-put://ryloth.wst.univie.ac.at:9329/move/position/view</move_camera>
+    <get_items_base>http-get://ryloth.wst.univie.ac.at:9329/view/items</get_items_base>
+    <get_items_neural>http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
+    <get_offset_base>http-get://ryloth.wst.univie.ac.at:9329/view/details</get_offset_base>
+    <get_offset_neural>http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
+    <grip_and_place>http-put://ryloth.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
+    <subprocess>https://cpee.org/flow/start/url/</subprocess>
+  </endpoints>
+  <description>
+    <description xmlns="http://cpee.org/ns/description/1.0">
+      <loop mode="pre_test" condition="data.places.length &gt; 0">
+        <_probability>
+          <_probability_min/>
+          <_probability_max/>
+          <_probability_avg/>
+        </_probability>
+        <call id="a1" endpoint="overview">
+          <parameters>
+            <label>Move to overview position</label>
+            <arguments/>
+            <stream>
+              <sensors/>
+              <aggregators/>
+              <costs/>
+            </stream>
+          </parameters>
+          <annotations>
+            <_timing>
+              <_timing_wait/>
+              <_timing_threshold/>
+              <_timing_min/>
+              <_timing_max/>
+              <_timing_avg/>
+            </_timing>
+            <_notes>
+              <_notes_general/>
+            </_notes>
+          </annotations>
+        </call>
+        <call id="a3" endpoint="get_items_base">
+          <parameters>
+            <label>Get item positions</label>
+            <arguments/>
+            <stream>
+              <sensors/>
+              <aggregators/>
+              <costs/>
+            </stream>
+          </parameters>
+          <code>
+            <prepare/>
+            <finalize output="result">data.items = result</finalize>
+            <update output="result"/>
+            <rescue output="result"/>
+          </code>
+          <annotations>
+            <_timing>
+              <_timing_wait/>
+              <_timing_threshold/>
+              <_timing_min/>
+              <_timing_max/>
+              <_timing_avg/>
+            </_timing>
+            <_notes>
+              <_notes_general/>
+            </_notes>
+          </annotations>
+        </call>
+        <choose mode="exclusive">
+          <alternative condition="data.items.length &gt; 0">
+            <call id="a5" endpoint="move_camera">
+              <parameters>
+                <label>Inspect first item</label>
+                <arguments>
+                  <x>!data.items.first['x']</x>
+                  <y>!data.items.first['y']</y>
+                </arguments>
+                <stream>
+                  <sensors/>
+                  <aggregators/>
+                  <costs/>
+                </stream>
+              </parameters>
+              <annotations>
+                <_timing>
+                  <_timing_wait/>
+                  <_timing_threshold/>
+                  <_timing_min/>
+                  <_timing_max/>
+                  <_timing_avg/>
+                </_timing>
+                <_notes>
+                  <_notes_general/>
+                </_notes>
+              </annotations>
+            </call>
+            <call id="a2" endpoint="subprocess">
+              <parameters>
+                <label>Adjust</label>
+                <method>:post</method>
+                <arguments>
+                  <behavior>wait_running</behavior>
+                  <url>https://cpee.org/flow/templates/UR-VUE%202020%20Manual%20Adjust.xml</url>
+                  <init/>
+                  <endpoints/>
+                  <stream/>
+                </arguments>
+                <stream>
+                  <sensors/>
+                  <aggregators/>
+                  <costs/>
+                </stream>
+              </parameters>
+              <code>
+                <prepare/>
+                <finalize output="result">data.place = data.places.shift
+data.item = result['item']
+data.item['x'] = data.items.first['x'] + data.item['adjust_x']
+data.item['y'] = data.items.first['y'] + data.item['adjust_y']</finalize>
+                <update output="result"/>
+                <rescue output="result"/>
+              </code>
+              <annotations>
+                <_timing>
+                  <_timing_wait/>
+                  <_timing_threshold/>
+                  <_timing_min/>
+                  <_timing_max/>
+                  <_timing_avg/>
+                </_timing>
+                <_notes>
+                  <_notes_general/>
+                </_notes>
+              </annotations>
+            </call>
+            <call id="a8" endpoint="grip_and_place">
+              <parameters>
+                <label>Grip and Place</label>
+                <arguments>
+                  <x>!data.item['x']</x>
+                  <y>!data.item['y']</y>
+                  <place_x>!data.place[0]</place_x>
+                  <place_y>!data.place[1]</place_y>
+                </arguments>
+                <stream>
+                  <sensors/>
+                  <aggregators/>
+                  <costs/>
+                </stream>
+              </parameters>
+              <annotations>
+                <_timing>
+                  <_timing_wait/>
+                  <_timing_threshold/>
+                  <_timing_min/>
+                  <_timing_max/>
+                  <_timing_avg/>
+                </_timing>
+                <_notes>
+                  <_notes_general/>
+                </_notes>
+              </annotations>
+            </call>
+            <_probability>
+              <_probability_min/>
+              <_probability_max/>
+              <_probability_avg/>
+            </_probability>
+          </alternative>
+          <otherwise>
+            <terminate/>
+          </otherwise>
+        </choose>
+      </loop>
+    </description>
+  </description>
+  <transformation>
+    <description type="copy"/>
+    <dataelements type="none"/>
+    <endpoints type="none"/>
+  </transformation>
+  <attributes>
+    <info>UR-VUE 2020 Solution Baseline</info>
+    <modeltype>CPEE</modeltype>
+    <theme>preset</theme>
+    <resource>ur51</resource>
+  </attributes>
+</testset>