class TestFramework_getEntities(TestCase):
c1testSignature = ['c1']
d1testSignature = ['d1']
def setUp(self):
f = Framework()
c1sys = SimpleSystem(f)
c1sys.setRunFunc(lambda e: None,
TestFramework_getEntities.c1testSignature)
f.registerSystem(c1sys)
self.ckey = f.registerEntityFactory(
[basicStateComponentBuilderFactory('c1', 'clear', 1)])
ef = f.getEntityFactory(self.ckey)
f.registerEntities([ef.new(), ef.new(), ef.new()])
self.d1System = SimpleSystem(f)
self.d1System.setRunFunc(lambda e: None,
TestFramework_getEntities.d1testSignature)
self.d1Factory = EntityFactory(
[basicStateComponentBuilderFactory('d1', 'foo', 1)])
self.framework = f
def test_getEntities_allEntitiesMatch(self):
entities = self.framework.getEntities(
TestFramework_getEntities.c1testSignature)
AssertThat(entities).HasSize(3)
def test_getEntities_oneEntityDoesNotMatch_noD1System(self):
e = self.d1Factory.new()
self.framework.registerEntity(e)
entities = self.framework.getEntities(
TestFramework_getEntities.c1testSignature)
AssertThat(entities).HasSize(3)
def test_getEntities_oneEntityDoesNotMatch(self):
self.framework.registerSystem(self.d1System)
d = self.d1Factory.new()
self.framework.registerEntity(d)
entities = self.framework.getEntities(
TestFramework_getEntities.c1testSignature)
AssertThat(entities).HasSize(3)
def test_getEntities_noEntitiesMatch(self):
entities = self.framework.getEntities(
TestFramework_getEntities.d1testSignature)
AssertThat(entities).HasSize(0)
class TestSimpleSystem_setRunFunc(TestCase):
def setUp(self):
self.testSystem = SimpleSystem(Parent())
def tRunFunc(self, e):
pass
def testSetRunFunc_entitySignatureSet(self):
self.testSystem.setRunFunc(self.tRunFunc, ['aState'])
AssertThat(self.testSystem.entitySignature).Contains('aState')
def setUp(self):
f = Framework()
c1sys = SimpleSystem(f)
c1sys.setRunFunc(lambda e: None,
TestFramework_registerEntity.testSignature)
f.registerSystem(c1sys)
self.ckey = f.registerEntityFactory(
[basicStateComponentBuilderFactory('c1', 'clear', 1)])
self.dkey = f.registerEntityFactory(
[basicStateComponentBuilderFactory('d1', 'foo', 3)])
self.framework = f
class TestSimpleSystemRun(TestCase):
def setUp(self):
self.testSystem = SimpleSystem(Parent())
self.testSystem.setRunFunc(self.tRunFunc, ['aState'])
self.runs = 0
def tRunFunc(self, e):
self.runs += 1
def test_systemHasARunFunc(self):
AssertThat(self.testSystem._runFunc).IsEqualTo(self.tRunFunc)
def test_runsOncePerEntityReturned(self):
self.testSystem.getEntities()
self.testSystem.run()
AssertThat(self.runs).IsEqualTo(3)
def setUp(self):
f = Framework()
c1sys = SimpleSystem(f)
c1sys.setRunFunc(lambda e: None,
TestFramework_getEntities.c1testSignature)
f.registerSystem(c1sys)
self.ckey = f.registerEntityFactory(
[basicStateComponentBuilderFactory('c1', 'clear', 1)])
ef = f.getEntityFactory(self.ckey)
f.registerEntities([ef.new(), ef.new(), ef.new()])
self.d1System = SimpleSystem(f)
self.d1System.setRunFunc(lambda e: None,
TestFramework_getEntities.d1testSignature)
self.d1Factory = EntityFactory(
[basicStateComponentBuilderFactory('d1', 'foo', 1)])
self.framework = f
from math import *
from simple_system import SimpleSystem
from pid_controller import PIDController
from signal_generator import PWMGenerator
font_name = "Microsoft YaHei"
matplotlib.rcParams['font.family']=font_name
matplotlib.rcParams['axes.unicode_minus']=False # in case minus sign is shown as box
t = []
y = []
x = []
t_step_len = 1e-2
sim_time = 5.
system = SimpleSystem(t_step_len)
controller = PIDController(200, 50, 500, 0.05, (-500,500))
pwm = PWMGenerator(t_step_len, 2, .5)
ts = 0.
desire_val = 0
while ts < sim_time:
t += [ts]
y += [system.observe()]
x += [desire_val]
observe = 0
sample_time = 50
for i in range(0,sample_time):
observe += system.observe()
observe /= float(sample_time)
def setUp(self):
self.testSystem = SimpleSystem(Parent())
self.testSystem.setRunFunc(self.tRunFunc, ['aState'])
self.runs = 0
def setUp(self):
self.testSystem = SimpleSystem(Parent())