def test_single_transition_multiple_active_states(self):
""" Tests that a single transition is executed when there are multiple
active states. """
class State1(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State3
class State2(StateAgent):
pass
class State3(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State1
state1 = State1()
state2 = State2()
state3 = State3()
agent = StateAgent([state1, state3, state2], initial=[State1, State2])
self.assertItemsEqual(agent.active_states, [state1, state2])
# Trigger transition request in State1 then check transition to State3
agent.process_state(0, 0)
self.assertItemsEqual(agent.active_states, [state2, state3])
# Trigger transition request in State3 then check transition to State1
agent.process_state(0, 0)
self.assertItemsEqual(agent.active_states, [state2, state1])
def test_single_transition_single_active_state(self):
""" Tests that states can request transitions successfully. """
class State1(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State3
class State2(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State1
class State3(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State2
state1 = State1()
state2 = State2()
state3 = State3()
agent = StateAgent([state2, state3, state1])
self.assertEqual(agent.active_states, [state2])
# Trigger transition request in State2 then check transition to State1
agent.process_state(0, 0)
self.assertEqual(agent.active_states, [state1])
# Trigger transition request in State1 then check transition to State3
agent.process_state(0, 0)
self.assertEqual(agent.active_states, [state3])
# Trigger transition request in State3 then check transition to State2
agent.process_state(0, 0)
self.assertEqual(agent.active_states, [state2])
# Trigger another transition request in State2
agent.process_state(0, 0)
self.assertEqual(agent.active_states, [state1])
def test_execution(self):
""" Test that state behaviour is executed for a single active state. """
class State1(StateAgent):
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
self.test_execution_value += 1
state1 = State1()
state1.test_execution_value = 0
agent = StateAgent([state1], initial=State1)
self.assertEqual(agent.state_names(), ["State1"])
self.assertEqual(agent.active_states, [state1])
# Execute the active state then test that the value was updated
self.assertEqual(state1.test_execution_value, 0)
agent.execute(0, 0)
self.assertEqual(state1.test_execution_value, 1)
agent.execute(0, 0)
self.assertEqual(state1.test_execution_value, 2)
agent.execute(0, 0)
self.assertEqual(state1.test_execution_value, 3)
def test_execution_multiple_active_states(self):
""" Test that state behaviour is executed correctly for multiple active
states. """
class State1(StateAgent):
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
self.test_execution_value += 5
class State2(StateAgent):
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
self.test_execution_value += 15
class State3(StateAgent):
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
self.test_execution_value += 100
state1 = State1()
state1.test_execution_value = 10
state2 = State2()
state2.test_execution_value = 20
state3 = State3()
state3.test_execution_value = 30
agent = StateAgent([state1, state3, state2],
initial=[State1, State2, State3])
self.assertItemsEqual(agent.active_states, [state1, state2, state3])
# Execute active states then test that values were updated
self.assertEqual(state1.test_execution_value, 10)
self.assertEqual(state2.test_execution_value, 20)
self.assertEqual(state3.test_execution_value, 30)
agent.execute(0, 0)
self.assertEqual(state1.test_execution_value, 15)
self.assertEqual(state2.test_execution_value, 35)
self.assertEqual(state3.test_execution_value, 130)
agent.execute(0, 0)
self.assertEqual(state1.test_execution_value, 20)
self.assertEqual(state2.test_execution_value, 50)
self.assertEqual(state3.test_execution_value, 230)
def test_multiple_transitions(self):
""" Tests that multiple transitions can be executed at once. """
class State1(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State2
class State2(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State3
class State3(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State4
class State4(StateAgent):
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State1
state1 = State1()
state2 = State2()
state3 = State3()
state4 = State4()
agent = StateAgent([state1, state3, state2, state4],
initial=[State1, State3])
self.assertItemsEqual(agent.active_states, [state1, state3])
# Trigger transition request in both State1 and State3
agent.process_state(0, 0)
self.assertItemsEqual(agent.active_states, [state2, state4])
# Trigger transition request in State2 and State4 and check transition
agent.process_state(0, 0)
self.assertItemsEqual(agent.active_states, [state1, state3])
def process_state(self, t, dt):
StateAgent.process_state(self, t, dt)
self.transition_request = State3
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
self.test_execution_value += 100
def test_state_initialisation(self):
""" Tests that states are correctly stored and initialised. """
class State1(StateAgent):
pass
class State2(StateAgent):
pass
class State3(StateAgent):
pass
state1 = State1()
state2 = State2()
state3 = State3()
# Test that the default initial active states list is empty if
# auto_initial is False and no initial state is specified
agent = StateAgent([state3, state1, state2], auto_initial=False)
self.assertEqual(agent.state_names(), ["State3", "State1", "State2"])
self.assertEqual(agent.active_states, [])
# Test that the default initial active state is the first state in the
# list if auto_initial is True
agent = StateAgent([state3, state1, state2])
self.assertEqual(agent.state_names(), ["State3", "State1", "State2"])
self.assertEqual(agent.active_states, [state3])
# Test that the initial active state can be set explicitly
agent = StateAgent([state3, state1, state2], initial=State1)
self.assertEqual(agent.state_names(), ["State3", "State1", "State2"])
self.assertEqual(agent.active_states, [state1])
# Test that multiple initial states may be set
agent = StateAgent([state3, state1, state2], initial=[State1, State2])
self.assertEqual(agent.state_names(), ["State3", "State1", "State2"])
self.assertItemsEqual(agent.active_states, [state1, state2])
def test_default_fsm(self):
""" Tests that the agent can be initialised. """
agent = StateAgent()