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_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_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 create_state_machine():
state1 = ExecutionState("DummyState1",
path=testing_utils.TEST_SCRIPT_PATH,
filename="transition_test_state.py")
state1.add_outcome('dummy_outcome_1', 3)
state1.add_outcome('dummy_outcome_2', 4)
state2 = ExecutionState("DummyState2",
path=testing_utils.TEST_SCRIPT_PATH,
filename="transition_test_state.py")
state2.add_outcome('dummy_outcome_1', 3)
state2.add_outcome('dummy_outcome_2', 4)
state3 = ExecutionState("DummyState3",
path=testing_utils.TEST_SCRIPT_PATH,
filename="transition_test_state.py")
state3.add_outcome('dummy_outcome_1', 3)
state3.add_outcome('dummy_outcome_2', 4)
state4 = HierarchyState("DummyHierarchyState")
state4.add_state(state1)
state4.set_start_state(state1.state_id)
state4.add_state(state2)
state4.add_state(state3)
state4.add_outcome("final_outcome", 5)
state4.add_transition(state1.state_id, 3, state2.state_id, None)
state4.add_transition(state1.state_id, 4, state3.state_id, None)
state4.add_transition(state2.state_id, 3, state4.state_id, 5)
state4.add_transition(state3.state_id, 3, state4.state_id, 5)
state4.add_transition(state3.state_id, 4, state4.state_id, 5)
t = state4.add_transition(state2.state_id, 4, state1.state_id, None)
state4.remove_transition(t)
state4.add_transition(state2.state_id, 4, state1.state_id, None)
# no target at all
with raises(ValueError):
state4.add_transition(state3.state_id, 4, None, None)
# no to_state
with raises(ValueError):
state4.add_transition(state3.state_id, 4, None, 5)
# start transition already existing
with raises(ValueError):
state4.add_transition(None, None, state3.state_id, None)
state4.start_state_id = None
state4.add_transition(None, None, state1.state_id, None)
return StateMachine(state4)
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_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 get_models():
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.gui.models.container_state import ContainerStateModel
def get_outcome_with_name(state_m, outcome_name):
return [
outcome_m for outcome_m in state_m.outcomes
if outcome_m.outcome.name == outcome_name
][0]
def get_state_with_name(parent_state_m, state_name):
return [
state_m for state_m in parent_state_m.states.values()
if state_m.state.name == state_name
][0]
execution_state = ExecutionState("ex1")
execution_state.add_outcome("oe1")
child_state = ExecutionState("ex2")
hierarchy_state = HierarchyState("h1")
hierarchy_state.add_outcome("oh1")
hierarchy_state.add_state(child_state)
root_state = HierarchyState("root")
root_state.add_state(execution_state)
root_state.add_state(hierarchy_state)
root_state_m = ContainerStateModel(root_state)
execution_state_m = get_state_with_name(root_state_m, "ex1")
hierarchy_state_m = get_state_with_name(root_state_m, "h1")
child_state_m = get_state_with_name(hierarchy_state_m, "ex2")
outcome_e_success_m = get_outcome_with_name(execution_state_m, "success")
outcome_e_1_m = get_outcome_with_name(execution_state_m, "oe1")
outcome_h_success_m = get_outcome_with_name(hierarchy_state_m, "success")
outcome_h_1_m = get_outcome_with_name(hierarchy_state_m, "oh1")
return (root_state_m, execution_state_m, hierarchy_state_m, child_state_m), (outcome_e_success_m, outcome_e_1_m), \
(outcome_h_success_m, outcome_h_1_m)
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 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
