def test_object_set_get(capsys):
class SetState(State):
def execute(self, board: Board):
obj = {'hello': [1, 2, 3], 'name': {'first': 'test'}}
board.set('obj', obj)
obj['name'] = {}
return StateStatus.SUCCESS
class GetState(State):
def execute(self, board):
obj = board.get('obj')
assert obj['hello'] == [1, 2, 3]
assert obj['name']['first'] == 'test'
return StateStatus.SUCCESS
s = SetState('s')
g = GetState('g')
w = WaitState('w', 1)
s.add_transition_on_success(w)
w.add_transition_on_success(g)
exe = Machine('xe', s, end_state_ids=['g'])
exe.run()
assert exe.is_end()
assert exe._curr_state._status == StateStatus.SUCCESS
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_machine_rate_fast():
w1 = WaitState("w1", 0.05) # execute at second 0
w2 = WaitState("w2", 0.05) # execute at second 0.1s
es = DummyState("endState") # execute at second 0.2
w1.add_transition_on_success(w2)
w2.add_transition_on_success(es)
exe = Machine("xe", w1, end_state_ids=["endState"], rate=10)
start_time = time.time()
exe.run()
duration = time.time() - start_time
assert pytest.approx(duration, abs=1e-2) == 0.2
assert w1._status == StateStatus.SUCCESS
assert w2._status == StateStatus.SUCCESS
def test_wait_state():
s1 = WaitState("s1", 2)
s2 = IdleState("s2")
s1.add_transition_on_success(s2)
exe = Machine("test", s1, end_state_ids=['s2'], rate=10)
start_time = time.time()
exe.run()
duration = time.time() - start_time
# Because the waut these are executed, its hard to know the margin
assert duration == pytest.approx(2, rel=0.1)
def test_debugging_machine(capsys):
from behavior_machine import logging
logging.add_fs('capsys', sys.stdout)
s1 = WaitState('s1', 1.1)
s2 = DummyState('s2')
s1.add_transition_on_success(s2)
mac = Machine("mac", s1, ["s2"], debug=True, rate=1)
mac.run()
assert mac.is_end()
assert capsys.readouterr().out == ("[Base] mac(Machine) -- RUNNING\n"
" -> s1(WaitState) -- RUNNING\n"
"[Base] mac(Machine) -- RUNNING\n"
" -> s2(DummyState) -- SUCCESS\n")
def test_debugging_machine(caplog):
import logging
logging.basicConfig(level=logging.DEBUG)
caplog.set_level(logging.DEBUG)
logger = logging.getLogger(__name__)
s1 = WaitState('s1', 1.1)
s2 = DummyState('s2')
s1.add_transition_on_success(s2)
mac = Machine("mac", s1, ["s2"], debug=True, rate=1, logger=logger)
mac.run()
assert mac.is_end()
assert len(caplog.records) == 3
assert caplog.records[
0].message == "[Base] mac(Machine) -- RUNNING\n -> s1(WaitState) -- RUNNING" # This is at t=0
assert caplog.records[
1].message == "[Base] mac(Machine) -- RUNNING\n -> s1(WaitState) -- RUNNING" # This is at t=1
assert caplog.records[
2].message == "[Base] mac(Machine) -- RUNNING\n -> s2(DummyState) -- SUCCESS" # At the end
def test_object_get_in_transition(capsys):
class SetState(State):
def execute(self, board: Board):
obj = {'hello': [1, 2, 3], 'name': {'first': 'test'}}
board.set('obj', obj)
obj = {}
return StateStatus.SUCCESS
s = SetState('s')
w = WaitState('w', 1)
i = IdleState('i')
end = IdleState('end')
s.add_transition_on_success(w)
w.add_transition_on_success(i)
i.add_transition(
lambda state, board: board.get('obj')['name']['first'] == 'test', end)
exe = Machine('xe', s, end_state_ids=['end'])
exe.run()
assert exe.is_end()
# Idle state returns RUNNING instead of SUCCESS
assert exe._curr_state._status == StateStatus.RUNNING