def test_repeat_node_in_machine():
counter = 0
class CounterState(State):
def execute(self, board: Board) -> StateStatus:
nonlocal counter
counter += 1
time.sleep(0.1)
return StateStatus.SUCCESS
ds1 = CounterState("ds1")
ds2 = CounterState("ds2")
ds3 = CounterState("ds3")
ds4 = CounterState("ds4")
ds5 = CounterState("ds5")
ds1.add_transition_on_success(ds2)
ds2.add_transition_on_success(ds3)
ds3.add_transition_on_success(ds4)
ds4.add_transition_on_success(ds5)
ds5.add_transition_on_success(ds1)
exe = Machine('exe', ds1, rate=5)
exe.start(None)
for i in range(1, 6):
time.sleep(1)
assert counter == i * 5
assert exe._curr_state == ds5
exe.interrupt()
assert counter == (5 * 5)
def test_parallel_state_performance(capsys):
wait_state_list = []
for i in range(0, 1000):
wait_state_list.append(WaitState(f"wait{i}", 1))
pm = ParallelState('pm', wait_state_list)
exe = Machine("xe", pm, rate=10)
start_time = time.time()
exe.start(None)
pm.wait()
exe.interrupt()
duration = time.time() - start_time
assert duration < 2 # as long as its not too slow, we are fine.
assert not pm._run_thread.is_alive()
def test_interrupt_machine(capsys):
s1 = WaitState('s1', 1.1)
s2 = DummyState('s2')
s1.add_transition_on_success(s2)
mac = Machine("mac", s1, ["s2"], debug=True, rate=1)
mac.start(None)
assert mac.interrupt()
def test_repeat_node_in_machine_fast():
counter = 0
class CounterState(State):
def execute(self, board: Board) -> StateStatus:
nonlocal counter
counter += 1
return StateStatus.SUCCESS
ds1 = CounterState("ds1")
ds2 = CounterState("ds2")
ds3 = CounterState("ds3")
ds1.add_transition_on_success(ds2)
ds2.add_transition_on_success(ds3)
ds3.add_transition_on_success(ds1)
exe = Machine('exe', ds1, rate=60)
exe.start(None)
time.sleep(2)
exe.interrupt()
# the performance of the computer might change this.
assert counter >= (60 * 2) - 2
assert counter <= (60 * 2) + 1
def test_validate_transition_immediate():
counter = 0
class CounterState(State):
def execute(self, board: Board) -> StateStatus:
nonlocal counter
counter += 1
return StateStatus.SUCCESS
ds1 = CounterState("ds1")
ds2 = CounterState("ds2")
ds3 = CounterState("ds3")
ds1.add_transition(lambda s, b: True, ds2)
ds2.add_transition(lambda s, b: True, ds3)
ds3.add_transition(lambda s, b: True, ds1)
exe = Machine('exe', ds1, rate=60)
exe.start(None)
time.sleep(2)
exe.interrupt()
# the performance of the computer might change this.
assert counter >= (60 * 2) - 2
assert counter <= (60 * 2) + 1