Added IBA Files

HBPNeurorobotics · Dec 18, 2019 · 64f790e · 64f790e
1 parent ec63f39
commit 64f790e
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/hbp_nrp_cleserver/hbp_nrp_cleserver/server/CLEGazeboSimulationAssembly.py b/hbp_nrp_cleserver/hbp_nrp_cleserver/server/CLEGazeboSimulationAssembly.py
@@ -37,6 +37,7 @@
 from hbp_nrp_commons.sim_config.SimConfig import ResourceType
 from hbp_nrp_commons.workspace.SimUtil import SimUtil
 from hbp_nrp_cleserver.server.GazeboSimulationAssembly import GazeboSimulationAssembly
+from hbp_nrp_cle.externalsim.ExternalModuleManager import ExternalModuleManager
 from hbp_nrp_commons.ZipUtil import ZipUtil
 
 # These imports start NEST.
@@ -121,10 +122,14 @@ def _initialize(self, except_hook):
         # load the brain
         braincontrol, braincomm, brainfile, brainconf = self._load_brain()
 
+        #load external modules
+        externalmodulearray = ExternalModuleManager()
+
         # initialize the cle server and services
         logger.info("Preparing CLE Server")
         self.cle_server.cle = self.__load_cle(robotcontrol, robotcomm, braincontrol, braincomm,
-                                              brainfile, brainconf, robot_poses, models, lights)
+                                              brainfile, brainconf, externalmodulearray,
+                                              robot_poses, models, lights)
         self.cle_server.prepare_simulation(except_hook)
 
         # load transfer functions
@@ -344,7 +349,7 @@ def _create_brain_adapters(self):  # pragma: no cover
 
     # pylint: disable=too-many-arguments
     def __load_cle(self, roscontrol, roscomm, braincontrol, braincomm,
-                   brain_file_path, neurons_config,
+                   brain_file_path, neurons_config, externalmodulearray,
                    robot_poses, models, lights):
         """
         Load the ClosedLoopEngine and initializes all interfaces
@@ -380,9 +385,9 @@ def __load_cle(self, roscontrol, roscomm, braincontrol, braincomm,
         # initialize CLE
         self._notify("Initializing CLE")
 
-        cle = DeterministicClosedLoopEngine(roscontrol, roscomm,
-                                            braincontrol, braincomm,
-                                            tfmanager, timestep)
+        cle = DeterministicClosedLoopEngine(roscontrol, roscomm, braincontrol,
+                                            braincomm, tfmanager,
+                                            externalmodulearray, timestep)
 
         if brain_file_path:
             cle.initialize(brain_file_path, **neurons_config)

diff --git a/hbp_nrp_cleserver/hbp_nrp_cleserver/tests/server/test_cle_assembly_init.py b/hbp_nrp_cleserver/hbp_nrp_cleserver/tests/server/test_cle_assembly_init.py
@@ -30,6 +30,7 @@
 from hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly import CLEGazeboSimulationAssembly
 from hbp_nrp_cleserver.server.LuganoVizClusterGazebo import XvfbXvnError
 from hbp_nrp_cle.mocks.robotsim import MockRobotControlAdapter, MockRobotCommunicationAdapter
+from hbp_nrp_cle.mocks.externalsim.MockExternalModuleManager import MockExternalModuleManager
 import hbp_nrp_cle.tf_framework as tfm
 from hbp_nrp_cle.robotsim.RobotManager import Robot
 from hbp_nrp_commons.MockUtil import MockUtil
@@ -81,6 +82,8 @@ class SomeWeirdTFException(Exception):
 @patch("hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.os.listdir", new=Mock(return_value=[]))
 @patch("hbp_nrp_cleserver.server.GazeboSimulationAssembly.rospy", new=MagicMock())
 @patch("hbp_nrp_cleserver.server.GazeboSimulationAssembly.rosnode", new=MagicMock())
+@patch("hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly.ExternalModuleManager", new=MockExternalModuleManager)
+
 class TestCLELauncherInit(unittest.TestCase):
 
     @patch("hbp_nrp_cleserver.server.GazeboSimulationAssembly.LocalGazeboServerInstance")