def create_state_machine():
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.state_machine import StateMachine
state1 = ExecutionState('State1', state_id='STATE1')
state2 = ExecutionState('State2')
state4 = ExecutionState('Nested')
output_state4 = state4.add_output_data_port("out", "int")
state5 = ExecutionState('Nested2')
input_state5 = state5.add_input_data_port("in", "int", 0)
state3 = HierarchyState(name='State3', state_id='STATE3')
state3.add_state(state4)
state3.add_state(state5)
state3.set_start_state(state4)
state3.add_scoped_variable("share", "int", 3)
state3.add_transition(state4.state_id, 0, state5.state_id, None)
state3.add_transition(state5.state_id, 0, state3.state_id, 0)
state3.add_data_flow(state4.state_id, output_state4, state5.state_id,
input_state5)
ctr_state = HierarchyState(name="Container", state_id='ROOTSTATE')
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.add_state(state3)
ctr_state.set_start_state(state1)
ctr_state.add_transition(state1.state_id, 0, state2.state_id, None)
ctr_state.add_transition(state2.state_id, 0, state3.state_id, None)
ctr_state.add_transition(state3.state_id, 0, ctr_state.state_id, 0)
ctr_state.name = "Container"
state_machine = StateMachine(ctr_state)
return state_machine
def test_scoped_variable_opengl2gaphas():
testing_utils.dummy_gui(None)
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.gui.models.container_state import ContainerStateModel
state = HierarchyState()
state.add_scoped_variable("sv", int, 0)
state_m = ContainerStateModel(state, parent=None)
state_m.meta["gui"]["editor_opengl"]["size"] = (100, 100)
state_m.get_meta_data_editor(for_gaphas=True)
scoped_var_m = state_m.scoped_variables[0]
scoped_var_m.meta["gui"]["editor_opengl"]["inner_rel_pos"] = (70, 30)
rel_pos = scoped_var_m.get_meta_data_editor(for_gaphas=True)["rel_pos"]
assert rel_pos == (70, 0)
def create_state_machine():
state1 = ExecutionState("scoped_data_test_state",
path=testing_utils.TEST_SCRIPT_PATH,
filename="scoped_variable_test_state.py")
state1.add_outcome("loop", 1)
input1_state1 = state1.add_input_data_port("input_data_port1", "float")
input2_state1 = state1.add_input_data_port("input_data_port2", "float")
output_state1 = state1.add_output_data_port("output_data_port1", "float")
state2 = HierarchyState("scoped_data_hierarchy_state")
state2.add_state(state1)
state2.set_start_state(state1.state_id)
state2.add_transition(state1.state_id, 0, state2.state_id, 0)
state2.add_transition(state1.state_id, 1, state1.state_id, None)
input_state2 = state2.add_input_data_port("input_data_port1", "float",
10.0)
output_state2 = state2.add_output_data_port("output_data_port1", "float")
scoped_variable_state2 = state2.add_scoped_variable(
"scoped_variable1", "float", 12.0)
state2.add_data_flow(
state2.state_id,
state2.get_scoped_variable_from_name("scoped_variable1"),
state1.state_id, input1_state1)
state2.add_data_flow(state2.state_id, input_state2, state1.state_id,
input2_state1)
state2.add_data_flow(state1.state_id, output_state1, state2.state_id,
output_state2)
state2.add_data_flow(state1.state_id, output_state1, state2.state_id,
scoped_variable_state2)
return StateMachine(state2)
def create_state_machine():
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.state_machine import StateMachine
print("create models")
logger.setLevel(logging.VERBOSE)
for handler in logging.getLogger('gtkmvc3').handlers:
logging.getLogger('gtkmvc3').removeHandler(handler)
state1 = ExecutionState('State1', state_id='STATE1')
output_state1 = state1.add_output_data_port("output", "int")
input_state1 = state1.add_input_data_port("input", "str", "zero")
state2 = ExecutionState('State2', state_id='STATE2')
input_par_state2 = state2.add_input_data_port("par", "int", 0)
output_res_state2 = state2.add_output_data_port("res", "int")
state4 = HierarchyState(name='Nested', state_id='NESTED')
state4.add_outcome('GoGo')
output_state4 = state4.add_output_data_port("out", "int")
state5 = ExecutionState('Nested2', state_id='NESTED2')
state5.add_outcome('HereWeGo')
input_state5 = state5.add_input_data_port("in", "int", 0)
state3 = HierarchyState(name='State3', state_id='STATE3')
input_state3 = state3.add_input_data_port("input", "int", 0)
output_state3 = state3.add_output_data_port("output", "int")
state3.add_state(state4)
state3.add_state(state5)
state3.set_start_state(state4)
state3.add_scoped_variable("share", "int", 3)
state3.add_transition(state4.state_id, 0, state5.state_id, None)
state3.add_transition(state5.state_id, 0, state3.state_id, 0)
state3.add_data_flow(state4.state_id, output_state4, state5.state_id,
input_state5)
state3.add_outcome('Branch1')
state3.add_outcome('Branch2')
ctr_state = HierarchyState(name="Container", state_id='CONT2')
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.add_state(state3)
input_ctr_state = ctr_state.add_input_data_port("ctr_in", "str", "zero")
output_ctr_state = ctr_state.add_output_data_port("ctr_out", "int")
ctr_state.set_start_state(state1)
ctr_state.add_transition(state1.state_id, 0, state2.state_id, None)
ctr_state.add_transition(state2.state_id, 0, state3.state_id, None)
ctr_state.add_transition(state3.state_id, 0, ctr_state.state_id, 0)
ctr_state.add_data_flow(state1.state_id, output_state1, state2.state_id,
input_par_state2)
ctr_state.add_data_flow(state2.state_id, output_res_state2,
state3.state_id, input_state3)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
state1.state_id, input_state1)
ctr_state.add_data_flow(state3.state_id, output_state3, ctr_state.state_id,
output_ctr_state)
ctr_state.name = "Container"
ctr_state.add_input_data_port("input", "str", "default_value1")
ctr_state.add_input_data_port("pos_x", "str", "default_value2")
ctr_state.add_input_data_port("pos_y", "str", "default_value3")
ctr_state.add_output_data_port("output", "str", "default_value1")
ctr_state.add_output_data_port("result", "str", "default_value2")
scoped_variable1_ctr_state = ctr_state.add_scoped_variable(
"scoped", "str", "default_value1")
scoped_variable2_ctr_state = ctr_state.add_scoped_variable(
"my_var", "str", "default_value1")
scoped_variable3_ctr_state = ctr_state.add_scoped_variable(
"ctr", "int", 42)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
ctr_state.state_id, scoped_variable1_ctr_state)
ctr_state.add_data_flow(state1.state_id, output_state1, ctr_state.state_id,
scoped_variable3_ctr_state)
state_dict = {
'Container': ctr_state,
'State1': state1,
'State2': state2,
'State3': state3,
'Nested': state4,
'Nested2': state5
}
sm = StateMachine(ctr_state)
return sm
def create_state_machine():
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.state_machine import StateMachine
state1 = ExecutionState('State1', state_id="State1")
output_state1 = state1.add_output_data_port("output", "int")
input_state1 = state1.add_input_data_port("input", "str", "zero")
state2 = ExecutionState('State2', state_id="State2")
input_par_state2 = state2.add_input_data_port("par", "int", 0)
output_res_state2 = state2.add_output_data_port("res", "int")
state4 = HierarchyState(name='Nested', state_id="Nested")
state4.add_outcome('GoGo')
output_state4 = state4.add_output_data_port("out", "int")
state5 = ExecutionState('Nested2', state_id="Nested2")
state5.add_outcome('HereWeGo')
input_state5 = state5.add_input_data_port("in", "int", 0)
state3 = HierarchyState(name='State3', state_id="State3")
input_state3 = state3.add_input_data_port("input", "int", 0)
output_state3 = state3.add_output_data_port("output", "int")
state3.add_state(state4)
state3.add_state(state5)
state3.set_start_state(state4)
state3.add_scoped_variable("share", "int", 3)
state3.add_transition(state4.state_id, 0, state5.state_id, None)
state3.add_transition(state5.state_id, 0, state3.state_id, 0)
state3.add_data_flow(state4.state_id, output_state4, state5.state_id,
input_state5)
state3.add_outcome('Branch1')
state3.add_outcome('Branch2')
ctr_state = HierarchyState(name="Root", state_id="Root")
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.add_state(state3)
input_ctr_state = ctr_state.add_input_data_port("ctr_in", "str", "zero")
output_ctr_state = ctr_state.add_output_data_port("ctr_out", "int")
ctr_state.set_start_state(state1)
ctr_state.add_transition(state1.state_id, 0, state2.state_id, None)
ctr_state.add_transition(state2.state_id, 0, state3.state_id, None)
ctr_state.add_transition(state3.state_id, 0, ctr_state.state_id, 0)
ctr_state.add_data_flow(state1.state_id, output_state1, state2.state_id,
input_par_state2)
ctr_state.add_data_flow(state2.state_id, output_res_state2,
state3.state_id, input_state3)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
state1.state_id, input_state1)
ctr_state.add_data_flow(state3.state_id, output_state3, ctr_state.state_id,
output_ctr_state)
ctr_state.name = "Container"
ctr_state.add_input_data_port("input", "str", "default_value1")
ctr_state.add_input_data_port("pos_x", "str", "default_value2")
ctr_state.add_input_data_port("pos_y", "str", "default_value3")
ctr_state.add_output_data_port("output", "str", "default_value1")
ctr_state.add_output_data_port("result", "str", "default_value2")
scoped_variable1_ctr_state = ctr_state.add_scoped_variable(
"scoped", "str", "default_value1")
scoped_variable3_ctr_state = ctr_state.add_scoped_variable(
"ctr", "int", 42)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
ctr_state.state_id, scoped_variable1_ctr_state)
ctr_state.add_data_flow(state1.state_id, output_state1, ctr_state.state_id,
scoped_variable3_ctr_state)
state_dict = {
'Container': ctr_state,
'State1': state1,
'State2': state2,
'State3': state3,
'Nested': state4,
'Nested2': state5
}
sm = StateMachine(ctr_state)
return state_dict, sm
def test_add_data_flow_to_state(mocker):
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.gui.models.container_state import ContainerStateModel
from rafcon.gui.mygaphas.utils.gap_helper import add_data_flow_to_state
root_state = HierarchyState("Root", "root")
child_container = HierarchyState("ChildContainer", "cc")
child_execution = ExecutionState("ChildExecution", "ce")
root_state.add_state(child_container)
root_state.add_state(child_execution)
floating_state = HierarchyState("Floater", "f")
root_state.add_input_data_port("ri1", int, data_port_id=0)
root_state.add_input_data_port("ri2", int, data_port_id=1)
root_state.add_output_data_port("ro1", int, data_port_id=2)
root_state.add_scoped_variable("rs1", int, scoped_variable_id=3)
child_container.add_input_data_port("ci1", int, data_port_id=0)
child_container.add_output_data_port("co1", int, data_port_id=2)
child_execution.add_input_data_port("ei1", int, data_port_id=0)
child_execution.add_output_data_port("eo1", int, data_port_id=2)
floating_state.add_input_data_port("fi1", int, data_port_id=0)
floating_state.add_output_data_port("fo1", int, data_port_id=1)
root_state_m = ContainerStateModel(root_state)
child_container_m = root_state_m.states["cc"]
child_execution_m = root_state_m.states["ce"]
floating_state_m = ContainerStateModel(floating_state)
ri1_m = root_state_m.get_input_data_port_m(0)
ro1_m = root_state_m.get_output_data_port_m(2)
rs1_m = root_state_m.get_scoped_variable_m(3)
ci1_m = child_container_m.get_input_data_port_m(0)
co1_m = child_container_m.get_output_data_port_m(2)
ei1_m = child_execution_m.get_input_data_port_m(0)
eo1_m = child_execution_m.get_output_data_port_m(2)
fi1_m = floating_state_m.get_input_data_port_m(0)
fo1_m = floating_state_m.get_output_data_port_m(1)
mocker.patch.object(root_state, "add_data_flow")
mocker.patch.object(child_container, "add_data_flow")
# Data flow in root state from input to output
add_data_flow_to_state(ri1_m, ro1_m)
root_state.add_data_flow.assert_called_with("root", 0, "root", 2)
# Data flow in root state from input to scope
add_data_flow_to_state(ri1_m, rs1_m)
root_state.add_data_flow.assert_called_with("root", 0, "root", 3)
# Data flow in root state from scope to output
add_data_flow_to_state(rs1_m, ro1_m)
root_state.add_data_flow.assert_called_with("root", 3, "root", 2)
# Data flow from root state input to container state input
add_data_flow_to_state(ri1_m, ci1_m)
root_state.add_data_flow.assert_called_with("root", 0, "cc", 0)
# Data flow from root state input to execution state input
add_data_flow_to_state(ri1_m, ei1_m)
root_state.add_data_flow.assert_called_with("root", 0, "ce", 0)
# Data flow from container state output to execution state input
add_data_flow_to_state(co1_m, ei1_m)
root_state.add_data_flow.assert_called_with("cc", 2, "ce", 0)
# Data flow from execution state output to container state input
add_data_flow_to_state(eo1_m, ci1_m)
root_state.add_data_flow.assert_called_with("ce", 2, "cc", 0)
# Data flow from container state output to container state input, see issue #711
add_data_flow_to_state(co1_m, ci1_m)
root_state.add_data_flow.assert_called_with("cc", 2, "cc", 0)
# Data flow from execution state output to container state input, see issue #711
add_data_flow_to_state(eo1_m, ei1_m)
root_state.add_data_flow.assert_called_with("ce", 2, "ce", 0)
# Data flow from container state output to root state output
add_data_flow_to_state(co1_m, ro1_m)
root_state.add_data_flow.assert_called_with("cc", 2, "root", 2)
# Data flow from execution state output to root state output
add_data_flow_to_state(eo1_m, ro1_m)
root_state.add_data_flow.assert_called_with("ce", 2, "root", 2)
# Data flow from execution state output to root state scope
add_data_flow_to_state(eo1_m, rs1_m)
root_state.add_data_flow.assert_called_with("ce", 2, "root", 3)
# Data flow from floating state output to execution state input
with pytest.raises(ValueError):
add_data_flow_to_state(fo1_m, ei1_m)
# Data flow from execution state output to floating state input
with pytest.raises(ValueError):
add_data_flow_to_state(eo1_m, fi1_m)
def create_models():
import rafcon.core.singleton
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.state_machine import StateMachine
state1 = ExecutionState('State1')
output_state1 = state1.add_output_data_port("output", "int")
input_state1 = state1.add_input_data_port("input", "str", "zero")
state2 = ExecutionState('State2')
input_par_state2 = state2.add_input_data_port("par", "int", 0)
output_res_state2 = state2.add_output_data_port("res", "int")
state4 = HierarchyState(name='Nested')
state4.add_outcome('GoGo')
output_state4 = state4.add_output_data_port("out", "int")
state5 = ExecutionState('Nested2')
state5.add_outcome('HereWeGo')
input_state5 = state5.add_input_data_port("in", "int", 0)
state3 = HierarchyState(name='State3')
input_state3 = state3.add_input_data_port("input", "int", 0)
output_state3 = state3.add_output_data_port("output", "int")
state3.add_state(state4)
state3.add_state(state5)
state3.set_start_state(state4)
state3.add_scoped_variable("share", "int", 3)
state3.add_transition(state4.state_id, 0, state5.state_id, None)
state3.add_transition(state5.state_id, 0, state3.state_id, 0)
state3.add_data_flow(state4.state_id, output_state4, state5.state_id,
input_state5)
state3.add_outcome('Branch1')
state3.add_outcome('Branch2')
ctr_state = HierarchyState(name="Container")
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.add_state(state3)
input_ctr_state = ctr_state.add_input_data_port("ctr_in", "str", "zero")
output_ctr_state = ctr_state.add_output_data_port("ctr_out", "int")
ctr_state.set_start_state(state1)
ctr_state.add_transition(state1.state_id, 0, state2.state_id, None)
ctr_state.add_transition(state2.state_id, 0, state3.state_id, None)
ctr_state.add_transition(state3.state_id, 0, ctr_state.state_id, 0)
ctr_state.add_data_flow(state1.state_id, output_state1, state2.state_id,
input_par_state2)
ctr_state.add_data_flow(state2.state_id, output_res_state2,
state3.state_id, input_state3)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
state1.state_id, input_state1)
ctr_state.add_data_flow(state3.state_id, output_state3, ctr_state.state_id,
output_ctr_state)
ctr_state.add_input_data_port("input", "str", "default_value1")
ctr_state.add_input_data_port("pos_x", "str", "default_value2")
ctr_state.add_input_data_port("pos_y", "str", "default_value3")
ctr_state.add_output_data_port("output", "str", "default_value1")
ctr_state.add_output_data_port("result", "str", "default_value2")
scoped_variable1_ctr_state = ctr_state.add_scoped_variable(
"scoped", "str", "default_value1")
scoped_variable2_ctr_state = ctr_state.add_scoped_variable(
"my_var", "str", "default_value1")
scoped_variable3_ctr_state = ctr_state.add_scoped_variable(
"ctr", "int", 42)
ctr_state.add_data_flow(ctr_state.state_id, input_ctr_state,
ctr_state.state_id, scoped_variable1_ctr_state)
ctr_state.add_data_flow(state1.state_id, output_state1, ctr_state.state_id,
scoped_variable3_ctr_state)
state_dict = {
'Container': ctr_state,
'State1': state1,
'State2': state2,
'State3': state3,
'Nested': state4,
'Nested2': state5
}
sm = StateMachine(ctr_state)
rafcon.core.singleton.state_machine_manager.add_state_machine(sm)
testing_utils.wait_for_gui()
state_machine_model = rafcon.gui.singleton.state_machine_manager_model.state_machines[
sm.state_machine_id]
return ctr_state, state_machine_model, state_dict
