def test_invalid_outcome(self):
class ReturnInvalidOutcome(EventState):
def __init__(self):
super(ReturnInvalidOutcome, self).__init__(outcomes=['done'])
def execute(self, userdata):
return 'invalid'
sm = OperatableStateMachine(outcomes=['done'])
with sm:
OperatableStateMachine.add('state', ReturnInvalidOutcome(), transitions={'done': 'done'})
outcome = sm.execute(None)
self.assertIsNone(outcome)
self.assertIsInstance(sm._last_exception, StateError)
def test_missing_userdata(self):
class AccessValidInput(EventState):
def __init__(self):
super(AccessValidInput, self).__init__(outcomes=['done'], input_keys=['missing'])
def execute(self, userdata):
print(userdata.missing)
return 'done'
sm = OperatableStateMachine(outcomes=['done'])
with sm:
OperatableStateMachine.add('state', AccessValidInput(), transitions={'done': 'done'})
outcome = sm.execute(None)
self.assertIsNone(outcome)
self.assertIsInstance(sm._last_exception, UserDataError)
def test_invalid_userdata_output(self):
class SetInvalidOutput(EventState):
def __init__(self):
super(SetInvalidOutput, self).__init__(outcomes=['done'], output_keys=['output'])
def execute(self, userdata):
userdata.invalid = False
return 'done'
sm = OperatableStateMachine(outcomes=['done'])
with sm:
OperatableStateMachine.add('state', SetInvalidOutput(), transitions={'done': 'done'})
outcome = sm.execute(None)
self.assertIsNone(outcome)
self.assertIsInstance(sm._last_exception, UserDataError)
def test_modify_input_key(self):
class ModifyInputKey(EventState):
def __init__(self):
super(ModifyInputKey, self).__init__(outcomes=['done'], input_keys=['only_input'])
def execute(self, userdata):
userdata.only_input['new'] = 'not_allowed'
return 'done'
sm = OperatableStateMachine(outcomes=['done'])
sm.userdata.only_input = {'existing': 'is_allowed'}
with sm:
OperatableStateMachine.add('state', ModifyInputKey(), transitions={'done': 'done'})
outcome = sm.execute(None)
self.assertIsNone(outcome)
self.assertIsInstance(sm._last_exception, UserDataError)
def test_user_data(self):
class TestUserdata(EventState):
def __init__(self, out_content='test_data'):
super(TestUserdata, self).__init__(outcomes=['done'],
input_keys=['data_in'],
output_keys=['data_out'])
self.data = None
self._out_content = out_content
def execute(self, userdata):
rospy.logwarn(
'\033[0m%s\n%s' %
(self.path, str(userdata))) # log for manual inspection
self.data = userdata.data_in
userdata.data_out = self._out_content
return 'done'
inner_sm = OperatableStateMachine(outcomes=['done'],
input_keys=['sm_in'],
output_keys=['sm_out'])
inner_sm.userdata.own = 'own_data'
with inner_sm:
OperatableStateMachine.add('own_state',
TestUserdata('inner_data'),
transitions={'done': 'outside_state'},
remapping={
'data_in': 'own',
'data_out': 'sm_out'
})
OperatableStateMachine.add('outside_state',
TestUserdata(),
transitions={'done': 'internal_state'},
remapping={
'data_in': 'sm_in',
'data_out': 'data_in'
})
OperatableStateMachine.add('internal_state',
TestUserdata(),
transitions={'done': 'done'},
remapping={})
sm = OperatableStateMachine(outcomes=['done'])
sm.userdata.outside = 'outside_data'
with sm:
OperatableStateMachine.add('before_state',
TestUserdata(),
transitions={'done': 'inner_sm'},
remapping={'data_in': 'outside'})
OperatableStateMachine.add('inner_sm',
inner_sm,
transitions={'done': 'after_state'},
remapping={'sm_in': 'outside'})
OperatableStateMachine.add('after_state',
TestUserdata('last_data'),
transitions={'done': 'modify_state'},
remapping={'data_in': 'sm_out'})
OperatableStateMachine.add('modify_state',
TestUserdata(),
transitions={'done': 'final_state'},
remapping={
'data_out': 'outside',
'data_in': 'outside'
})
OperatableStateMachine.add('final_state',
TestUserdata(),
transitions={'done': 'done'},
remapping={'data_in': 'data_out'})
# can pass userdata to state and get it from state
sm.execute(None)
self.assertEqual(sm['before_state'].data, 'outside_data')
self.assertEqual(sm._userdata.data_out, 'test_data')
# sub-state machine can set its own local userdata
sm.execute(None)
self.assertEqual(sm['inner_sm']['own_state'].data, 'own_data')
self.assertNotIn('own', sm._userdata) # transparent to outer sm
# sub-state machine can read data from parent state machine
sm.execute(None)
self.assertEqual(sm['inner_sm']['outside_state'].data, 'outside_data')
# sub-state machine can pass along its local userdata
self.assertIn('data_in', sm['inner_sm']._userdata)
sm.execute(None)
self.assertEqual(sm['inner_sm']['internal_state'].data, 'test_data')
self.assertNotIn('data_in', sm._userdata) # transparent to outer sm
# sub-state machine userdata is wrote back to the parent
self.assertEqual(sm._userdata.sm_out, 'inner_data')
# outer state machine can read data set by inner state machine
sm.execute(None)
self.assertEqual(sm['after_state'].data, 'inner_data')
# can remap different keys to achieve read-write access
sm.execute(None)
self.assertEqual(sm['modify_state'].data, 'outside_data')
self.assertEqual(sm._userdata.outside, 'test_data')
# one state can read data set by another one
outcome = sm.execute(None)
self.assertEqual(sm['final_state'].data, 'last_data')
self.assertEqual(outcome, 'done')
