def test_init_1(self):
s1 = es.state("start")
s2 = es.state("end")
t1 = es.transition(s2, "next", condition=lambda: True)
s1.add_transition(t1)
sm = es.statemachine([s1, s2])
self.assertRaises(RuntimeError,
sm.init) # test if no initial state is definied
s1.initial = True
sm.init()
sm.step()
self.assertEqual(sm.state, s2) # test if first transition works
self.assertRaises(RuntimeError,
sm.step) # test if final state works right
def setup(temps, thresh):
s_cold = ep_statemachine.state("cold", initial=True) #1
s_heatUp1 = ep_statemachine.state("heatUp1") #2
s_heatUp2 = ep_statemachine.state("heatUp2") #3
s_hot = ep_statemachine.state("hot") #4
s_toHot = ep_statemachine.state("toHot") #5
s_muchToHot = ep_statemachine.state("muchToHot") #6
t_12 = ep_statemachine.transition(
s_heatUp1,
"t_12", # (T_Oven > T1) & T_Oven > T_TankU + dT1
lambda: (temps("T_Oven") > thresh("T1")) &
(temps("T_Oven") > temps("T_TankU") + thresh("T1")))
t_23 = ep_statemachine.transition(
s_heatUp2,
"t_23",
lambda: (temps("T_Oven") < temps("T_TankL") + thresh("dT1")
) # T_Oven < T_TankL + dT1
)
t_32 = ep_statemachine.transition(
s_heatUp1,
"t_32",
lambda: (temps("T_Oven") > temps("T_TankU") + thresh("dT1")
) # T_Oven > T_TankU + dT1
)
t_cold = ep_statemachine.transition(
s_cold,
"t_cold",
lambda: (temps("T_Oven") < thresh("T5")) # T_Oven < T5
)
t_hot = ep_statemachine.transition(
s_hot,
"t_hot",
lambda: (temps("T_TankL") > thresh("T2")) # T_TankL > T2
)
t_42 = ep_statemachine.transition(
s_heatUp1,
"t_42", # T_TankL < T2 - dT1 & T_Oven > T_TankU + dT1
lambda: (temps("T_TankL") < thresh("T2") - thresh("dT1")) &
(temps("T_Oven") > temps("T_TankU") + thresh("dT1")))
t_toHot = ep_statemachine.transition(
s_toHot,
"t_toHot",
lambda:
(temps("T_Oven") > thresh("T3") + thresh("dT2")) # T_Oven > T3 + dT2
)
t_54 = ep_statemachine.transition(
s_hot,
"t_54",
lambda:
(temps("T_Oven") < thresh("T3") - thresh("dT2")) # T_Oven < T3 - dT2
)
t_56 = ep_statemachine.transition(
s_muchToHot,
"t_56",
lambda:
(temps("T_Oven") > thresh("T4") + thresh("dT2")) # T_Oven > T4 + dT2
)
t_65 = ep_statemachine.transition(
s_toHot,
"t_65",
lambda:
(temps("T_Oven") < thresh("T4") - thresh("dT2")) # T_Oven < T4 - dT2
)
s_cold.add_transition(t_12)
s_cold.add_transition(t_toHot)
s_heatUp1.add_transition(t_23)
s_heatUp1.add_transition(t_cold)
s_heatUp1.add_transition(t_hot)
s_heatUp1.add_transition(t_toHot)
s_heatUp2.add_transition(t_32)
s_heatUp2.add_transition(t_cold)
s_heatUp2.add_transition(t_hot)
s_heatUp2.add_transition(t_toHot)
s_hot.add_transition(t_cold)
s_hot.add_transition(t_toHot)
s_hot.add_transition(t_42)
s_toHot.add_transition(t_54)
s_toHot.add_transition(t_56)
s_muchToHot.add_transition(t_65)
return ep_statemachine.statemachine(
[s_cold, s_heatUp1, s_heatUp2, s_hot, s_toHot, s_muchToHot])
def test_coffee_machine(self):
i = 0
def inc():
nonlocal i
i = i + 1
workflow = [
"press coffee button",
"press coffee button",
"press espresso button",
"press espresso button",
"press off button",
"press off button",
]
s_sleep = es.state("sleep", initial=True, entry_action=inc)
s_select_input = es.state("select_input", entry_action=inc)
s_make_coffee = es.state("make coffee")
s_make_espresso = es.state("make espresso")
s_done = es.state("done")
s_off = es.state("off")
t_wake_up = es.transition(
s_select_input,
identifier="wake up",
condition=lambda: re.match("press (coffee|espresso|off) button",
workflow[i]) is not None)
s_sleep.add_transition(t_wake_up)
t_coffee = es.transition(
s_make_coffee,
identifier="coffee",
condition=lambda: workflow[i] == "press coffee button")
s_select_input.add_transition(t_coffee)
t_espresso = es.transition(
s_make_espresso,
identifier="espresso",
condition=lambda: workflow[i] == "press espresso button")
s_select_input.add_transition(t_espresso)
t_finished = es.transition(s_done,
identifier="finished",
condition=lambda: True)
s_make_coffee.add_transition(t_finished)
s_make_espresso.add_transition(t_finished)
t_back_to_sleep = es.transition(s_sleep,
identifier="back to sleep",
condition=lambda: True)
s_done.add_transition(t_back_to_sleep)
t_turn_off = es.transition(
s_off,
identifier="turn off",
condition=lambda: workflow[i] == "press off button")
s_select_input.add_transition(t_turn_off)
sm = es.statemachine([
s_sleep, s_select_input, s_make_coffee, s_make_espresso, s_done,
s_off
])
sm.init()
self.assertEqual(sm.state, s_sleep)
sm.step() # press any button
self.assertEqual(sm.state, s_select_input)
sm.step() # press coffee button
self.assertEqual(sm.state, s_make_coffee)
sm.step() # wait
self.assertEqual(sm.state, s_done)
sm.step() # drink coffee
self.assertEqual(sm.state, s_sleep)
sm.step() # press any button
self.assertEqual(sm.state, s_select_input)
sm.step() # press espresso button
self.assertEqual(sm.state, s_make_espresso)
sm.step() # wait
self.assertEqual(sm.state, s_done)
sm.step() # drink espresso
self.assertEqual(sm.state, s_sleep)
sm.step() # press off button
self.assertEqual(sm.state, s_select_input)
sm.step() # press off button
self.assertEqual(sm.state, s_off)
self.assertRaises(RuntimeError, sm.step) # coffee machine is off
sm.init() # reinit
i = 0
self.assertEqual(sm.state, s_sleep)
sm.cycle(0.01) # run all steps at once
self.assertEqual(sm.state, s_off)
def test_heater_control(self):
i = 0
def inc():
nonlocal i
i = i + 1
s_cold = es.state("cold",
initial=True,
entry_action=inc,
during_action=inc) # 1
s_heat_up_1 = es.state("head up 1",
entry_action=inc,
during_action=inc) # 2
s_heat_up_2 = es.state("head up 2",
entry_action=inc,
during_action=inc) # 3
s_hot = es.state("hot", entry_action=inc, during_action=inc) # 4
s_to_hot = es.state("to hot", entry_action=inc, during_action=inc) # 5
s_much_to_hot = es.state("much to hot",
entry_action=inc,
during_action=inc) # 6
s_cool_down = es.state("much to hot",
entry_action=inc,
during_action=inc) # 7
# test array:
# state is state before temperatures are reached
test_array = [
{
"T_Oven": 40,
"T_Tank_Upper": 30,
"T_Tank_Lower": 25,
"state": s_cold
},
{
"T_Oven": 50,
"T_Tank_Upper": 30,
"T_Tank_Lower": 25,
"state": s_cold
},
{
"T_Oven": 60,
"T_Tank_Upper": 30,
"T_Tank_Lower": 25,
"state": s_cold
},
{
"T_Oven": 70,
"T_Tank_Upper": 30,
"T_Tank_Lower": 25,
"state": s_cold
},
{
"T_Oven": 70,
"T_Tank_Upper": 40,
"T_Tank_Lower": 25,
"state": s_heat_up_1
},
{
"T_Oven": 70,
"T_Tank_Upper": 50,
"T_Tank_Lower": 30,
"state": s_heat_up_1
},
{
"T_Oven": 70,
"T_Tank_Upper": 50,
"T_Tank_Lower": 40,
"state": s_heat_up_1
},
{
"T_Oven": 60,
"T_Tank_Upper": 60,
"T_Tank_Lower": 50,
"state": s_heat_up_1
},
{
"T_Oven": 55,
"T_Tank_Upper": 60,
"T_Tank_Lower": 50,
"state": s_heat_up_1
},
{
"T_Oven": 55,
"T_Tank_Upper": 60,
"T_Tank_Lower": 55,
"state": s_heat_up_2
},
{
"T_Oven": 60,
"T_Tank_Upper": 60,
"T_Tank_Lower": 55,
"state": s_heat_up_2
},
{
"T_Oven": 70,
"T_Tank_Upper": 60,
"T_Tank_Lower": 55,
"state": s_heat_up_2
},
{
"T_Oven": 75,
"T_Tank_Upper": 60,
"T_Tank_Lower": 55,
"state": s_heat_up_1
},
{
"T_Oven": 85,
"T_Tank_Upper": 80,
"T_Tank_Lower": 70,
"state": s_heat_up_1
},
{
"T_Oven": 85,
"T_Tank_Upper": 80,
"T_Tank_Lower": 70,
"state": s_hot
},
{
"T_Oven": 90,
"T_Tank_Upper": 80,
"T_Tank_Lower": 70,
"state": s_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 80,
"T_Tank_Lower": 70,
"state": s_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 80,
"T_Tank_Lower": 70,
"state": s_to_hot
},
{
"T_Oven": 90,
"T_Tank_Upper": 80,
"T_Tank_Lower": 75,
"state": s_to_hot
},
{
"T_Oven": 90,
"T_Tank_Upper": 80,
"T_Tank_Lower": 75,
"state": s_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 80,
"T_Tank_Lower": 75,
"state": s_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_to_hot
},
{
"T_Oven": 101,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_to_hot
},
{
"T_Oven": 101,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_much_to_hot
},
{
"T_Oven": 101,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_much_to_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_much_to_hot
},
{
"T_Oven": 97,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_to_hot
},
{
"T_Oven": 90,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_to_hot
},
{
"T_Oven": 90,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_hot
},
{
"T_Oven": 80,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_hot
},
{
"T_Oven": 70,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_hot
},
{
"T_Oven": 60,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_hot
},
{
"T_Oven": 55,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_hot
},
{
"T_Oven": 55,
"T_Tank_Upper": 85,
"T_Tank_Lower": 80,
"state": s_cool_down
},
]
t_12 = es.transition(
s_heat_up_1,
identifier="t_12",
condition=lambda: (test_array[i]["T_Oven"] > 65) &
(test_array[i]["T_Oven"] > test_array[i]["T_Tank_Lower"]))
s_cold.add_transition(t_12)
t_23 = es.transition(
s_heat_up_2,
identifier="t_23",
condition=lambda: (test_array[i]["T_Oven"] < 60) |
(test_array[i]["T_Tank_Lower"] > test_array[i]["T_Oven"]))
s_heat_up_1.add_transition(t_23)
t_32 = es.transition(
s_heat_up_1,
identifier="t_32",
condition=lambda:
(test_array[i]["T_Oven"] > test_array[i]["T_Tank_Lower"] + 5))
s_heat_up_2.add_transition(t_32)
t_24 = t_34 = es.transition(s_hot,
identifier="t_x4",
condition=lambda:
(test_array[i]["T_Oven"] > 80))
s_heat_up_1.add_transition(t_24)
s_heat_up_2.add_transition(t_34)
t_45 = es.transition(s_to_hot,
identifier="t_45",
condition=lambda: (test_array[i]["T_Oven"] > 96))
t_54 = es.transition(s_hot,
identifier="t_54",
condition=lambda: (test_array[i]["T_Oven"] < 94))
s_hot.add_transition(t_45)
s_to_hot.add_transition(t_54)
t_56 = es.transition(s_much_to_hot,
identifier="t_56",
condition=lambda: (test_array[i]["T_Oven"] > 100))
t_65 = es.transition(s_to_hot,
identifier="t_65",
condition=lambda: (test_array[i]["T_Oven"] < 98))
s_to_hot.add_transition(t_56)
s_much_to_hot.add_transition(t_65)
t_47 = es.transition(s_cool_down,
identifier="t_47",
condition=lambda: (test_array[i]["T_Oven"] < 60))
s_hot.add_transition(t_47)
t_71 = es.transition(s_cold,
identifier="t_71",
condition=lambda: (test_array[i]["T_Oven"] < 50))
s_cool_down.add_transition(t_71)
t_72 = es.transition(
s_heat_up_1,
identifier="t_72",
condition=lambda: (test_array[i]["T_Oven"] > 60) &
(test_array[i]["T_Oven"] > test_array[i]["T_Tank_Lower"]))
s_cool_down.add_transition(t_72)
t_37 = es.transition(s_cool_down,
identifier="t_37",
condition=lambda: (test_array[i]["T_Oven"] < 60))
s_cool_down.add_transition(t_37)
sm = es.statemachine([
s_cold, s_heat_up_1, s_heat_up_2, s_hot, s_to_hot, s_much_to_hot,
s_cool_down
])
sm.init()
while i < len(test_array):
self.assertEqual(sm.state, test_array[i]["state"])
sm.step()
def test_coffee_machine_event(self):
s_sleep = es.state("sleep", initial=True)
s_select_input = es.state("select_input")
s_make_coffee = es.state("make coffee")
s_make_espresso = es.state("make espresso")
s_done = es.state("done")
s_off = es.state("off")
e_press_coffee_button = es.event("coffee button pressed")
e_press_espresso_button = es.event("espresso button pressed")
e_press_off_button = es.event("off button pressed")
t_wake_up = es.transition(s_select_input,
identifier="wake up",
events=[
e_press_coffee_button,
e_press_espresso_button,
e_press_off_button
])
s_sleep.add_transition(t_wake_up)
t_coffee = es.transition(s_make_coffee,
identifier="coffee",
events=[e_press_coffee_button])
s_select_input.add_transition(t_coffee)
t_espresso = es.transition(s_make_espresso,
identifier="espresso",
events=[e_press_espresso_button])
s_select_input.add_transition(t_espresso)
t_finished = es.transition(s_done,
identifier="finished",
condition=lambda: True)
s_make_coffee.add_transition(t_finished)
s_make_espresso.add_transition(t_finished)
t_back_to_sleep = es.transition(s_sleep,
identifier="back to sleep",
condition=lambda: True)
s_done.add_transition(t_back_to_sleep)
t_turn_off = es.transition(s_off,
identifier="turn off",
events=[e_press_off_button])
s_select_input.add_transition(t_turn_off)
sm = es.statemachine([
s_sleep, s_select_input, s_make_coffee, s_make_espresso, s_done,
s_off
])
sm.init()
self.assertEqual(sm.state, s_sleep)
sm.action(e_press_coffee_button)
self.assertEqual(sm.state, s_select_input)
sm.action(e_press_coffee_button)
self.assertEqual(sm.state, s_make_coffee)
sm.step()
self.assertEqual(sm.state, s_done)
sm.step()
self.assertEqual(sm.state, s_sleep)
sm.action(e_press_coffee_button)
self.assertEqual(sm.state, s_select_input)
sm.action(e_press_espresso_button)
self.assertEqual(sm.state, s_make_espresso)
sm.step()
self.assertEqual(sm.state, s_done)
sm.step()
self.assertEqual(sm.state, s_sleep)
sm.action(e_press_off_button)
self.assertEqual(sm.state, s_select_input)
sm.action(e_press_off_button)
self.assertEqual(sm.state, s_off)
def setup(temps, thresh):
pump_pin = machine.Pin(14, machine.Pin.OUT)
warn_led = machine.Pin(17, machine.Pin.OUT)
pump_on = lambda: pump_pin.off()
pump_off = lambda: pump_pin.on()
warn_on = lambda: warn_led.off()
warn_off = lambda: warn_led.on()
def s_cold_enter():
pump_off()
warn_off()
def s_heatUp1_enter():
pump_on()
warn_off()
def s_heatUp2_enter():
pump_off()
warn_off()
def s_hot_enter():
pump_off()
warn_off()
def s_toHot_enter():
pump_on()
warn_on()
def s_muchToHot_enter():
pump_on()
warn_on()
s_cold = ep_statemachine.state("cold",
initial=True,
entry_action=s_cold_enter) #1
s_heatUp1 = ep_statemachine.state("heatUp1",
entry_action=s_heatUp1_enter) #2
s_heatUp2 = ep_statemachine.state("heatUp2",
entry_action=s_heatUp2_enter) #3
s_hot = ep_statemachine.state("hot", entry_action=s_hot_enter) #4
s_toHot = ep_statemachine.state("toHot", entry_action=s_toHot_enter) #5
s_muchToHot = ep_statemachine.state("muchToHot",
entry_action=s_muchToHot_enter) #6
t_12 = ep_statemachine.transition(
s_heatUp1,
"t_12", # (T_Oven > T1) & T_Oven > T_TankU + dT1
lambda: (temps("T_Oven") > thresh("T1")) &
(temps("T_Oven") > temps("T_TankU") + thresh("T1")))
t_23 = ep_statemachine.transition(
s_heatUp2,
"t_23",
lambda: (temps("T_Oven") < temps("T_TankL") + thresh("dT1")
) # T_Oven < T_TankL + dT1
)
t_32 = ep_statemachine.transition(
s_heatUp1,
"t_32",
lambda: (temps("T_Oven") > temps("T_TankU") + thresh("dT1")
) # T_Oven > T_TankU + dT1
)
t_cold = ep_statemachine.transition(
s_cold,
"t_cold",
lambda: (temps("T_Oven") < thresh("T5")) # T_Oven < T5
)
t_hot = ep_statemachine.transition(
s_hot,
"t_hot",
lambda: (temps("T_TankL") > thresh("T2")) # T_TankL > T2
)
t_42 = ep_statemachine.transition(
s_heatUp1,
"t_42", # T_TankL < T2 - dT1 & T_Oven > T_TankU + dT1
lambda: (temps("T_TankL") < thresh("T2") - thresh("dT1")) &
(temps("T_Oven") > temps("T_TankU") + thresh("dT1")))
t_toHot = ep_statemachine.transition(
s_toHot,
"t_toHot",
lambda:
(temps("T_Oven") > thresh("T3") + thresh("dT2")) # T_Oven > T3 + dT2
)
t_54 = ep_statemachine.transition(
s_hot,
"t_54",
lambda:
(temps("T_Oven") < thresh("T3") - thresh("dT2")) # T_Oven < T3 - dT2
)
t_56 = ep_statemachine.transition(
s_muchToHot,
"t_56",
lambda:
(temps("T_Oven") > thresh("T4") + thresh("dT2")) # T_Oven > T4 + dT2
)
t_65 = ep_statemachine.transition(
s_toHot,
"t_65",
lambda:
(temps("T_Oven") < thresh("T4") - thresh("dT2")) # T_Oven < T4 - dT2
)
s_cold.add_transition(t_12)
s_cold.add_transition(t_toHot)
s_heatUp1.add_transition(t_23)
s_heatUp1.add_transition(t_cold)
s_heatUp1.add_transition(t_hot)
s_heatUp1.add_transition(t_toHot)
s_heatUp2.add_transition(t_32)
s_heatUp2.add_transition(t_cold)
s_heatUp2.add_transition(t_hot)
s_heatUp2.add_transition(t_toHot)
s_hot.add_transition(t_cold)
s_hot.add_transition(t_toHot)
s_hot.add_transition(t_42)
s_toHot.add_transition(t_54)
s_toHot.add_transition(t_56)
s_muchToHot.add_transition(t_65)
return ep_statemachine.statemachine(
[s_cold, s_heatUp1, s_heatUp2, s_hot, s_toHot,
s_muchToHot]), lambda: 1 - pump_pin.value()