def create_state_machine(): state1 = ExecutionState("first_state", path=testing_utils.TEST_SCRIPT_PATH, filename="scoped_data_test_state1.py") state1.add_outcome("first_outcome", 3) state1.add_input_data_port("data_input_port1", "float") state1.add_output_data_port("data_output_port1", "float") state2 = ExecutionState("second_state", path=testing_utils.TEST_SCRIPT_PATH, filename="scoped_data_test_state2.py") state2.add_outcome("first_outcome", 3) state2.add_input_data_port("data_input_port1", "float") state2.add_output_data_port("data_output_port1", "float") state3 = HierarchyState("hierarchy_state") state3.add_state(state1) state3.add_state(state2) state3.set_start_state(state1.state_id) state3.add_outcome("Container_Outcome", 6) state3.add_transition(state1.state_id, 3, state2.state_id, None) state3.add_transition(state2.state_id, 3, state3.state_id, 6) state3.add_input_data_port("data_input_port1", "float", 22.0) state3.add_output_data_port("data_output_port1", "float") state3.add_data_flow(state3.state_id, state3.get_io_data_port_id_from_name_and_type("data_input_port1", InputDataPort), state1.state_id, state1.get_io_data_port_id_from_name_and_type("data_input_port1", InputDataPort)) state3.add_data_flow(state1.state_id, state1.get_io_data_port_id_from_name_and_type("data_output_port1", OutputDataPort), state2.state_id, state2.get_io_data_port_id_from_name_and_type("data_input_port1", InputDataPort)) state3.add_data_flow(state2.state_id, state2.get_io_data_port_id_from_name_and_type("data_output_port1", OutputDataPort), state3.state_id, state3.get_io_data_port_id_from_name_and_type("data_output_port1", OutputDataPort)) return StateMachine(state3)
def create_hierarchy_state(): state1 = ExecutionState("MyFirstState", path=testing_utils.TEST_SCRIPT_PATH, filename="first_execution_state.py") state1.add_outcome("MyFirstOutcome", 3) state1.add_input_data_port("data_input_port1", "float") state1.add_output_data_port("faulty_output_port", "float") state1.add_output_data_port("data_output_port1", "float") state2 = HierarchyState("MyFirstHierarchyState") state2.add_state(state1) state2.set_start_state(state1.state_id) state2.add_outcome("Container_Outcome", 6) transition_id = state2.add_transition(state1.state_id, 3, state2.state_id, 6) # print state2.transitions[transition_id] input_data_port_id = state2.add_input_data_port("input1", "float", 42.0, data_port_id=42) state2.add_output_data_port("output1", "float") state2.add_data_flow( state2.state_id, state2.get_io_data_port_id_from_name_and_type("input1", InputDataPort), state1.state_id, state1.get_io_data_port_id_from_name_and_type("data_input_port1", InputDataPort)) state2.add_data_flow( state1.state_id, state1.get_io_data_port_id_from_name_and_type("data_output_port1", OutputDataPort), state2.state_id, state2.get_io_data_port_id_from_name_and_type("output1", OutputDataPort)) return state2
def create_hierarchy_state(number_child_states=10, sleep=False): hierarchy = HierarchyState("hierarchy1") hierarchy.add_outcome("hierarchy_outcome", 1) hierarchy.add_input_data_port("hierarchy_input_port1", "float", 42.0) hierarchy.add_output_data_port("hierarchy_output_port1", "float") last_state = None for i in range(number_child_states): if sleep: state = ExecutionState("state" + str(i), path=testing_utils.TEST_SCRIPT_PATH, filename="hello_world_sleep.py") else: state = ExecutionState("state" + str(i)) hierarchy.add_state(state) state.add_input_data_port("input1", "float") state.add_output_data_port("output1", "float") if not last_state: hierarchy.set_start_state(state.state_id) hierarchy.add_data_flow( hierarchy.state_id, hierarchy.get_io_data_port_id_from_name_and_type( "hierarchy_input_port1", InputDataPort), state.state_id, state.get_io_data_port_id_from_name_and_type( "input1", InputDataPort)) else: hierarchy.add_transition(last_state.state_id, 0, state.state_id, None) # connect data ports state 1 hierarchy.add_data_flow( last_state.state_id, last_state.get_io_data_port_id_from_name_and_type( "output1", OutputDataPort), state.state_id, state.get_io_data_port_id_from_name_and_type( "input1", InputDataPort)) last_state = state hierarchy.add_data_flow( last_state.state_id, last_state.get_io_data_port_id_from_name_and_type( "output1", OutputDataPort), hierarchy.state_id, hierarchy.get_io_data_port_id_from_name_and_type( "hierarchy_output_port1", OutputDataPort)) hierarchy.add_transition(last_state.state_id, 0, hierarchy.state_id, 1) return hierarchy
def create_state_machine2(): state1 = ExecutionState("MyFirstState", state_id="FirstLevel2", path=testing_utils.TEST_SCRIPT_PATH, filename="default_data_port_test_state.py") state0 = ExecutionState("MyZeroState", state_id="ZeroLevel2", path=testing_utils.TEST_SCRIPT_PATH, filename="default_data_port_test_state.py") state0.add_outcome("first_outcome", 3) input_state0 = state0.add_input_data_port("input_data_port1", tuple, (1, 3, 2), data_port_id=1) output_state0 = state0.add_output_data_port("output_data_port1", tuple) state1.add_outcome("first_outcome", 3) input_state1 = state1.add_input_data_port("input_data_port1", tuple, (1, 3, 2), data_port_id=1) output_state1 = state1.add_output_data_port("output_data_port1", tuple) state2 = HierarchyState("MyFirstHierarchyState",state_id="FirstLevel1") state2.add_state(state1) state2.add_state(state0) state2.set_start_state(state0.state_id) state2.add_outcome("Container_Outcome", 6) state2.add_transition(state0.state_id, 3, state1.state_id, None) state2.add_transition(state1.state_id, 3, state2.state_id, 6) input_state2 = state2.add_input_data_port("input_data_port1", tuple) output_state2 = state2.add_output_data_port("output_data_port1", tuple) state2.add_data_flow(state0.state_id, output_state0, state1.state_id, input_state1) state2.add_data_flow(state1.state_id, output_state1, state2.state_id, output_state2) return StateMachine(state2)
def create_execution_state_library_state_machine(): rafcon.core.singleton.library_manager.initialize() library_container_state = HierarchyState("libContainerState", state_id="libContainerState") lib_state = LibraryState("temporary_libraries", "execution_library", "0.1", "library_execution_state", state_id="library_execution_state") library_container_state.add_state(lib_state) library_container_state.set_start_state(lib_state.state_id) library_container_state.add_transition(lib_state.state_id, 0, library_container_state.state_id, 0) lib_container_input = library_container_state.add_input_data_port( "data_input_port1", "float", 32.0) lib_container_output = library_container_state.add_output_data_port( "data_output_port1", "float") library_container_state.add_data_flow( library_container_state.state_id, lib_container_input, lib_state.state_id, lib_state.get_io_data_port_id_from_name_and_type( "data_input_port1", InputDataPort)) library_container_state.add_data_flow( lib_state.state_id, lib_state.get_io_data_port_id_from_name_and_type( "data_output_port1", OutputDataPort), library_container_state.state_id, lib_container_output) return StateMachine(library_container_state)
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(): state1 = ExecutionState("MyFirstState", state_id="FirstLevel2", path=testing_utils.TEST_SCRIPT_PATH, filename="default_data_port_test_state.py") state1.add_outcome("first_outcome", 3) input_state1 = state1.add_input_data_port("input_data_port1", "str", "default_value") output_state1 = state1.add_output_data_port("output_data_port1", "str") state2 = HierarchyState("MyFirstHierarchyState", state_id="FirstLevel1") state2.add_state(state1) state2.set_start_state(state1.state_id) state2.add_outcome("Container_Outcome", 6) state2.add_transition(state1.state_id, 3, state2.state_id, 6) input_state2 = state2.add_input_data_port("input_data_port1", "str") output_state2 = state2.add_output_data_port("output_data_port1", "str") # state2.add_data_flow(state2.state_id, # input_state2, # state1.state_id, # input_state1) state2.add_data_flow(state1.state_id, output_state1, state2.state_id, output_state2) return StateMachine(state2)
def test_save_libraries(caplog): s = storage state1 = ExecutionState("library_execution_state1", path=testing_utils.TEST_SCRIPT_PATH, filename="library_execution_state1.py") input_state1 = state1.add_input_data_port("data_input_port1", "float") output_state1 = state1.add_output_data_port("data_output_port1", "float") state2 = ExecutionState("library_execution_state2", path=testing_utils.TEST_SCRIPT_PATH, filename="library_execution_state2.py") input_state2 = state2.add_input_data_port("data_input_port1", "float") output_state2 = state2.add_output_data_port("data_output_port1", "float") state3 = HierarchyState("library_hierarchy_state1") state3.add_state(state1) state3.add_state(state2) state3.set_start_state(state1.state_id) state3.add_transition(state1.state_id, 0, state2.state_id, None) state3.add_transition(state2.state_id, 0, state3.state_id, 0) input_state3 = state3.add_input_data_port("data_input_port1", "float", 1.0) output_state3 = state3.add_output_data_port("data_output_port1", "float", 2.0) state3.add_data_flow(state3.state_id, input_state3, state1.state_id, input_state1) state3.add_data_flow(state1.state_id, output_state1, state2.state_id, input_state2) state3.add_data_flow(state2.state_id, output_state2, state3.state_id, output_state3) # save hierarchy state as state machine s.save_state_machine_to_path(StateMachine(state3), join(TEST_LIBRARY_PATH, "hierarchy_library")) # save execution state as state machine s.save_state_machine_to_path(StateMachine(state1), join(TEST_LIBRARY_PATH, "execution_library")) # save hierarchy state as nested state machines state3.name = "library_nested1" s.save_state_machine_to_path(StateMachine(state3), join(TEST_LIBRARY_PATH, "library_container", "library_nested1"), delete_old_state_machine=True) state3.name = "library_nested2" s.save_state_machine_to_path(StateMachine(state3), join(TEST_LIBRARY_PATH, "library_container", "library_nested2"), delete_old_state_machine=True) testing_utils.assert_logger_warnings_and_errors(caplog)
def create_state_machine(): state1 = ExecutionState("MyFirstState", path=testing_utils.TEST_SCRIPT_PATH, filename="global_variable_state.py") state1.add_outcome("first_outcome", 3) input_state1 = state1.add_input_data_port("input_data_port1", "float") output_state1 = state1.add_output_data_port("output_data_port1", "float") state3 = HierarchyState("MyFirstHierarchyState") state3.add_state(state1) state3.set_start_state(state1.state_id) state3.add_outcome("Container_Outcome", 6) state3.add_transition(state1.state_id, 3, state3.state_id, 6) input_state3 = state3.add_input_data_port("input_data_port1", "float", 22.0) output_state3 = state3.add_output_data_port("output_data_port1", "float") state3.add_data_flow(state3.state_id, input_state3, state1.state_id, input_state1) state3.add_data_flow(state1.state_id, output_state1, state3.state_id, output_state3) return StateMachine(state3)
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