def create_models(*args, **kargs):
import rafcon.core.singleton
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.state_machine import StateMachine
state1 = HierarchyState('State1', state_id="State1")
state2 = ExecutionState('State2', state_id="State2")
ctr_state = HierarchyState(name="Root", state_id="Root")
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.start_state_id = state1.state_id
ctr_state.add_transition(state1.state_id,
from_outcome=0,
to_state_id=state2.state_id,
to_outcome=None)
ctr_state.add_transition(state2.state_id,
from_outcome=0,
to_state_id=ctr_state.state_id,
to_outcome=0)
ctr_state.name = "Container"
sm = StateMachine(ctr_state)
# add new state machine
rafcon.core.singleton.state_machine_manager.add_state_machine(sm)
rafcon.core.singleton.state_machine_manager.active_state_machine_id = sm.state_machine_id
def test_connections_from_object_type(caplog):
parent_state = HierarchyState("parent")
child_state = ExecutionState("child")
parent_state.add_state(child_state)
parent_obj_port_id = parent_state.add_input_data_port("obj",
data_type=object,
default_value=None)
parent_int_port_id = parent_state.add_input_data_port("int",
data_type=int,
default_value=None)
child_obj_port_id = child_state.add_input_data_port("obj",
data_type=object,
default_value=0)
child_int_port_id = child_state.add_input_data_port("int",
data_type=int,
default_value=0)
# Connection from specific type int to generic type object
parent_state.add_data_flow(parent_state.state_id, parent_int_port_id,
child_state.state_id, child_obj_port_id)
# Connection from generic type object to specific type int
parent_state.add_data_flow(parent_state.state_id, parent_obj_port_id,
child_state.state_id, child_int_port_id)
testing_utils.assert_logger_warnings_and_errors(caplog,
expected_warnings=0,
expected_errors=0)
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_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 test_multiple_future_element():
testing_utils.dummy_gui(None)
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.gui.models.state import StateModel
from rafcon.gui.models.container_state import ContainerStateModel
parent_state = HierarchyState()
parent_state_m = ContainerStateModel(parent_state)
child_state_a = ExecutionState("A")
child_state_a_m = StateModel(child_state_a)
child_state_b = ExecutionState("B")
child_state_b_m = StateModel(child_state_b)
parent_state_m.expected_future_models.add(child_state_a_m)
parent_state_m.expected_future_models.add(child_state_b_m)
parent_state.add_state(child_state_a)
assert len(parent_state_m.states) == 1
new_child_state_a_m = list(parent_state_m.states.values())[0]
assert new_child_state_a_m is child_state_a_m
assert new_child_state_a_m.core_element is child_state_a
assert len(parent_state_m.expected_future_models) == 1
parent_state.add_state(child_state_b)
assert len(parent_state_m.states) == 2
new_child_states_m = list(parent_state_m.states.values())
assert new_child_states_m[0] is child_state_b_m or new_child_states_m[
1] is child_state_b_m
assert new_child_states_m[
0].core_element is child_state_b or new_child_states_m[
1].core_element is child_state_b
assert len(parent_state_m.expected_future_models) == 0
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_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("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 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_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 test_default():
testing_utils.dummy_gui(None)
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.gui.models.container_state import ContainerStateModel
parent_state = HierarchyState()
parent_state_m = ContainerStateModel(parent_state)
child_state_a = ExecutionState("A")
parent_state.add_state(child_state_a)
assert len(parent_state_m.states) == 1
child_state_a_m = list(parent_state_m.states.values())[0]
assert child_state_a_m.core_element is child_state_a
def return_loop_state_machine():
state1 = ExecutionState("MyFirstState", path=testing_utils.TEST_SCRIPT_PATH, filename="loop_state1.py")
state1.add_outcome("MyFirstOutcome", 3)
state2 = ExecutionState("MySecondState", path=testing_utils.TEST_SCRIPT_PATH, filename="loop_state2.py")
state2.add_outcome("FirstOutcome", 3)
state3 = HierarchyState("MyFirstHierarchyState")
state3.add_state(state1)
state3.add_state(state2)
state3.set_start_state(state1.state_id)
state3.add_transition(state1.state_id, 3, state2.state_id, None)
state3.add_transition(state2.state_id, 3, state1.state_id, None)
return StateMachine(state3)
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_models(*args, **kargs):
import rafcon.core.singleton
import rafcon.gui.singleton
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.state_machine import StateMachine
state1 = HierarchyState('State1', state_id="State1")
ctr_state = HierarchyState(name="Root", state_id="Root")
ctr_state.add_state(state1)
ctr_state.name = "Container"
sm = StateMachine(ctr_state)
# add new state machine
rafcon.core.singleton.state_machine_manager.add_state_machine(sm)
testing_utils.wait_for_gui()
# select state machine
rafcon.gui.singleton.state_machine_manager_model.selected_state_machine_id = sm.state_machine_id
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.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.state_machine import StateMachine
state1 = ExecutionState('State1', state_id='STATE1')
state2 = ExecutionState('State2')
state4 = ExecutionState('Nested')
output_state4 = state4.add_output_data_port("out", "int")
state5 = ExecutionState('Nested2')
input_state5 = state5.add_input_data_port("in", "int", 0)
state3 = HierarchyState(name='State3', state_id='STATE3')
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)
ctr_state = HierarchyState(name="Container", state_id='ROOTSTATE')
ctr_state.add_state(state1)
ctr_state.add_state(state2)
ctr_state.add_state(state3)
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.name = "Container"
state_machine = StateMachine(ctr_state)
return state_machine
def create_small_state_machine():
import rafcon.core.singleton
import rafcon.gui.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', state_id='STATE1')
state1.add_input_data_port("in", "str", "zero")
state1.add_output_data_port("out", "int", 5)
state2 = ExecutionState('State2', state_id='STATE2')
state2.add_input_data_port("in", "int", 0)
state2.add_output_data_port("out", "int", 3)
root_state = HierarchyState(name='State3', state_id='STATE3')
root_state.add_state(state1)
root_state.add_state(state2)
root_state.set_start_state(state1)
root_state.add_transition(state1.state_id, 0, state2.state_id, None)
sm = StateMachine(root_state)
rafcon.core.singleton.state_machine_manager.add_state_machine(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_turtle_statemachine(base_path, example_path):
basic_turtle_demo_state = HierarchyState("BasicTurtleDemo")
init_ros_node = LibraryState("ros_libraries", "init_ros_node", "0.1",
"init ros node")
basic_turtle_demo_state.add_state(init_ros_node)
basic_turtle_demo_state.set_start_state(init_ros_node.state_id)
########################################################
# Turtle Concurrency State
########################################################
preemptive_concurrency_state = PreemptiveConcurrencyState(
"Turtle Concurrency State")
basic_turtle_demo_state.add_state(preemptive_concurrency_state)
basic_turtle_demo_state.add_transition(
init_ros_node.state_id, 0, preemptive_concurrency_state.state_id, None)
basic_turtle_demo_state.add_transition(
preemptive_concurrency_state.state_id, 0,
basic_turtle_demo_state.state_id, 0)
########################################################
# Subscribe to turtle position concurrency State
########################################################
subscribe_to_turtle_position_hierarchy_state = HierarchyState(
"Turtle Position Subscriber Hierarchy State")
preemptive_concurrency_state.add_state(
subscribe_to_turtle_position_hierarchy_state)
spawn_turtle = LibraryState("turtle_libraries",
"turtle_position_subscriber", "0.1",
"subscribe to turtle position")
subscribe_to_turtle_position_hierarchy_state.add_state(spawn_turtle)
subscribe_to_turtle_position_hierarchy_state.set_start_state(
spawn_turtle.state_id)
subscribe_to_turtle_position_hierarchy_state.add_transition(
spawn_turtle.state_id, 0, spawn_turtle.state_id, None)
########################################################
# Move Turtle Hierarchy State
########################################################
move_turtle_hierarchy_state = HierarchyState("Move Turtle Hierarchy State")
preemptive_concurrency_state.add_state(move_turtle_hierarchy_state)
preemptive_concurrency_state.add_transition(
move_turtle_hierarchy_state.state_id, 0,
preemptive_concurrency_state.state_id, 0)
spawn_turtle = LibraryState("turtle_libraries", "spawn_turtle", "0.1",
"spawn turtle")
move_turtle_hierarchy_state.add_state(spawn_turtle)
move_turtle_hierarchy_state.set_start_state(spawn_turtle.state_id)
wait1 = ExecutionState("Wait1", path=base_path, filename="wait.py")
move_turtle_hierarchy_state.add_state(wait1)
move_turtle_hierarchy_state.add_transition(spawn_turtle.state_id, 0,
wait1.state_id, None)
teleport_turtle = LibraryState("turtle_libraries", "teleport_turtle",
"0.1", "teleport turtle")
move_turtle_hierarchy_state.add_state(teleport_turtle)
move_turtle_hierarchy_state.add_transition(wait1.state_id, 0,
teleport_turtle.state_id, None)
wait2 = ExecutionState("Wait2", path=base_path, filename="wait.py")
move_turtle_hierarchy_state.add_state(wait2)
move_turtle_hierarchy_state.add_transition(teleport_turtle.state_id, 0,
wait2.state_id, None)
clear_field = LibraryState("turtle_libraries", "clear_field", "0.1",
"clear field")
move_turtle_hierarchy_state.add_state(clear_field)
move_turtle_hierarchy_state.add_transition(wait2.state_id, 0,
clear_field.state_id, None)
wait3 = LibraryState(name="Wait3",
library_path="generic",
library_name="wait")
move_turtle_hierarchy_state.add_state(wait3)
move_turtle_hierarchy_state.add_transition(clear_field.state_id, 0,
wait3.state_id, None)
set_velocity1 = LibraryState("turtle_libraries", "set_velocity", "0.1",
"set velocity1")
move_turtle_hierarchy_state.add_state(set_velocity1)
move_turtle_hierarchy_state.add_transition(wait3.state_id, 0,
set_velocity1.state_id, None)
wait4 = ExecutionState("Wait4", path=base_path, filename="wait.py")
move_turtle_hierarchy_state.add_state(wait4)
move_turtle_hierarchy_state.add_transition(set_velocity1.state_id, 0,
wait4.state_id, None)
move_to_position = LibraryState("turtle_libraries", "move_to_position",
"0.1", "move to position")
move_turtle_hierarchy_state.add_state(move_to_position)
move_turtle_hierarchy_state.add_transition(wait4.state_id, 0,
move_to_position.state_id, None)
move_turtle_hierarchy_state.add_transition(move_to_position.state_id, 1,
move_to_position.state_id, None)
kill_turtle = LibraryState("turtle_libraries", "kill_turtle", "0.1",
"kill turtle")
move_turtle_hierarchy_state.add_state(kill_turtle)
move_turtle_hierarchy_state.add_transition(move_to_position.state_id, 0,
kill_turtle.state_id, None)
move_turtle_hierarchy_state.add_transition(
kill_turtle.state_id, 0, move_turtle_hierarchy_state.state_id, 0)
return basic_turtle_demo_state
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_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
def create_state_machine():
from rafcon.core.state_machine import StateMachine
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
root = HierarchyState(name='root')
ex1 = ExecutionState(name='1')
root.add_state(ex1)
ex2 = ExecutionState(name='2')
root.add_state(ex2)
ex3 = ExecutionState(name='3')
root.add_state(ex3)
# hierarchy state at the beginning
h4 = HierarchyState('H4')
ex41 = ExecutionState(name='41')
h4.add_state(ex41)
ex42 = ExecutionState(name='42')
h4.add_state(ex42)
ex43 = ExecutionState(name='43')
h4.add_state(ex43)
h4.start_state_id = ex41.state_id
h4.add_transition(ex41.state_id, 0, ex42.state_id, None)
h4.add_transition(ex42.state_id, 0, ex43.state_id, None)
h4.add_transition(ex43.state_id, 0, h4.state_id, 0)
root.add_state(h4)
root.start_state_id = ex1.state_id
root.add_transition(h4.state_id, 0, ex1.state_id, None)
root.add_transition(ex1.state_id, 0, ex2.state_id, None)
root.add_transition(ex2.state_id, 0, ex3.state_id, None)
t_id = root.add_transition(ex3.state_id, 0, root.state_id, 0)
return StateMachine(root_state=root), t_id, h4.state_id
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
