def test_motor_to_action(self):
# set([(active_motors, action)])
# each motor is mapped to one action. It is only meaningful to
# activate one motor at the time. All other combinations of
# active motors are mapped to the action '-' (do nothing)
motors = ['<', '>', '^', 'v']
motors_to_action1 = {
frozenset([0]): '<',
frozenset([1]): '>',
frozenset([2]): '^',
frozenset([3]): 'v',
'*': '-'
}
mnetwork = MotorNetwork(motors, motors_to_action1)
mnetwork.update(frozenset([0]))
self.assertTrue(mnetwork.get_action() == '<')
mnetwork.update(frozenset([1]))
self.assertTrue(mnetwork.get_action() == '>')
mnetwork.update(frozenset([2]))
self.assertTrue(mnetwork.get_action() == '^')
mnetwork.update(frozenset([3]))
self.assertTrue(mnetwork.get_action() == 'v')
# Motor model where all combinations of active motors have an action
motors_to_action2 = {
frozenset(): '<',
frozenset([0]): '>',
frozenset([1]): '^',
frozenset([0, 1]): 'v'
}
mnetwork = MotorNetwork(motors, motors_to_action2)
mnetwork.update(frozenset())
self.assertTrue(mnetwork.get_action() == '<')
mnetwork.update(frozenset([0]))
self.assertTrue(mnetwork.get_action() == '>')
mnetwork.update(frozenset([1]))
self.assertTrue(mnetwork.get_action() == '^')
mnetwork.update(frozenset([0, 1]))
self.assertTrue(mnetwork.get_action() == 'v')
def test_MOTOR_AND_SEQ(self):
mnetwork = MotorNetwork()
n1 = mnetwork.add_MOTOR_node('m1')
self.assertTrue(mnetwork.get() == set())
mnetwork.update(set([n1]))
self.assertTrue(mnetwork.get() == set([0]))
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set())
n2 = mnetwork.add_MOTOR_node('m2')
mnetwork.update(set([n2]))
self.assertTrue(mnetwork.get() == set([n2]))
mnetwork.update(set([n2, n1]))
self.assertTrue(mnetwork.get() == set([n1, n2]))
n3 = mnetwork.add_MAND_node([n1, n2])
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set())
mnetwork.update(set([n3]))
self.assertTrue(mnetwork.get() == set([n1, n2]))
n4 = mnetwork.add_MOTOR_node('m3')
n5 = mnetwork.add_MSEQ_node([n3, n4])
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set())
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set())
mnetwork.update(set([n5]))
self.assertTrue(mnetwork.get() == set([n1, n2]))
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set([n4]))
mnetwork.update(set())
self.assertTrue(mnetwork.get() == set())
mnetwork.delete_nodes([n5])
mnetwork.update(set([n4]))
self.assertTrue(mnetwork.get() == set([n4]))