def test_first_cycle_transitions_to_initial(self):
sm = StateMachine({"initial": "foobar"})
sm.process(0.1)
self.assertEqual(
sm.state,
"foobar",
"StateMachine failed to transition into " "initial state on first cycle",
)
def test_can_transition_with_lambda(self):
sm = StateMachine(
{"initial": "foo", "transitions": {("foo", "bar"): lambda: True}}
)
self.assertIsNone(sm.state)
sm.process(0.1)
self.assertEqual(sm.state, "foo")
sm.process(0.2)
self.assertEqual(sm.state, "bar")
def test_can_transition_with_lambda(self):
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
self.assertIsNone(sm.state)
sm.process(0.1)
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertEqual(sm.state, 'bar')
def test_can_transition_with_lambda(self):
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
self.assertIsNone(sm.state)
sm.process(0.1)
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertEqual(sm.state, 'bar')
def test_can_transition_with_callable(self):
transition = Mock(return_value=True)
sm = StateMachine(
{"initial": "foo", "transitions": {("foo", "bar"): transition}}
)
transition.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
transition.assert_not_called()
self.assertEqual(sm.state, "foo")
sm.process(0.2)
self.assertTrue(transition.called)
self.assertEqual(sm.state, "bar")
def test_can_transition_with_Transition(self, tr_call):
transition = Transition()
sm = StateMachine(
{"initial": "foo", "transitions": {("foo", "bar"): transition}}
)
tr_call.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
tr_call.assert_not_called()
self.assertEqual(sm.state, "foo")
sm.process(0.2)
self.assertTrue(tr_call.called)
self.assertEqual(sm.state, "bar")
def test_can_transition_with_Transition(self, tr_call):
transition = Transition()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): transition
}
})
tr_call.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
tr_call.assert_not_called()
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertTrue(tr_call.called)
self.assertEqual(sm.state, 'bar')
def test_can_transition_with_Transition(self, tr_call):
transition = Transition()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): transition
}
})
tr_call.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
tr_call.assert_not_called()
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertTrue(tr_call.called)
self.assertEqual(sm.state, 'bar')
def test_can_transition_with_callable(self):
transition = Mock(return_value=True)
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): transition
}
})
transition.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
transition.assert_not_called()
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertTrue(transition.called)
self.assertEqual(sm.state, 'bar')
def test_can_transition_with_callable(self):
transition = Mock(return_value=True)
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): transition
}
})
transition.assert_not_called()
self.assertIsNone(sm.state)
sm.process(0.1)
transition.assert_not_called()
self.assertEqual(sm.state, 'foo')
sm.process(0.2)
self.assertTrue(transition.called)
self.assertEqual(sm.state, 'bar')
class SimulatedBearings(CanProcess, MagneticBearings):
def __init__(self):
super(SimulatedBearings, self).__init__()
self._csm = StateMachine({
'initial': 'resting',
'transitions': {
('resting', 'levitating'): lambda: self._levitate,
('levitating', 'levitated'): self.levitationComplete,
('levitated', 'delevitating'): lambda: not self._levitate,
('delevitating', 'resting'): self.delevitationComplete,
}
})
self._levitate = False
def engage(self):
self.levitate()
def disengage(self):
self.delevitate()
def levitate(self):
self._levitate = True
def delevitate(self):
self._levitate = False
def levitationComplete(self):
return True
def delevitationComplete(self):
return True
def doProcess(self, dt):
self._csm.process(dt)
@property
def ready(self):
return self._csm.state == 'levitated' and self._levitate
@property
def idle(self):
return self._csm.state == 'resting' and not self._levitate
class SimulatedBearings(CanProcess, MagneticBearings):
def __init__(self):
super(SimulatedBearings, self).__init__()
self._csm = StateMachine({
"initial": "resting",
"transitions": {
("resting", "levitating"): lambda: self._levitate,
("levitating", "levitated"): self.levitationComplete,
("levitated", "delevitating"): lambda: not self._levitate,
("delevitating", "resting"): self.delevitationComplete,
},
})
self._levitate = False
def engage(self):
self.levitate()
def disengage(self):
self.delevitate()
def levitate(self):
self._levitate = True
def delevitate(self):
self._levitate = False
def levitationComplete(self):
return True
def delevitationComplete(self):
return True
def doProcess(self, dt):
self._csm.process(dt)
@property
def ready(self):
return self._csm.state == "levitated" and self._levitate
@property
def idle(self):
return self._csm.state == "resting" and not self._levitate
class SimulatedBearings(CanProcess, MagneticBearings):
def __init__(self):
super(SimulatedBearings, self).__init__()
self._csm = StateMachine({
'initial': 'resting',
'transitions': {
('resting', 'levitating'): lambda: self._levitate,
('levitating', 'levitated'): self.levitationComplete,
('levitated', 'delevitating'): lambda: not self._levitate,
('delevitating', 'resting'): self.delevitationComplete,
}
})
self._levitate = False
def engage(self):
self.levitate()
def disengage(self):
self.delevitate()
def levitate(self):
self._levitate = True
def delevitate(self):
self._levitate = False
def levitationComplete(self):
return True
def delevitationComplete(self):
return True
def doProcess(self, dt):
self._csm.process(dt)
@property
def ready(self):
return self._csm.state == 'levitated' and self._levitate
@property
def idle(self):
return self._csm.state == 'resting' and not self._levitate
def test_can(self):
sm = StateMachine({
'initial': 'init',
'transitions': {
('init', 'foo'): lambda: True,
('foo', 'bar'): lambda: True,
('bar', 'foo'): lambda: True,
('bar', 'init'): lambda: True,
('bar', 'bar'): lambda: True
}
})
self.assertEqual(sm.state, None)
self.assertIs(sm.can('init'), True)
self.assertIs(sm.can('foo'), False)
self.assertIs(sm.can('bar'), False)
self.assertIs(sm.can(None), False)
sm.process()
self.assertEqual(sm.state, 'init')
self.assertIs(sm.can('foo'), True)
self.assertIs(sm.can('bar'), False)
self.assertIs(sm.can('init'), False)
sm.process()
self.assertEqual(sm.state, 'foo')
self.assertIs(sm.can('bar'), True)
self.assertIs(sm.can('init'), False)
self.assertIs(sm.can('foo'), False)
sm.process()
self.assertEqual(sm.state, 'bar')
self.assertIs(sm.can('foo'), True)
self.assertIs(sm.can('init'), True)
self.assertIs(sm.can('bar'), True)
def test_bind_handlers_by_name_default_behaviour(self):
target = Mock()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(target)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
target._on_entry_foo.assert_called_once_with(0)
target._in_state_foo.assert_called_once_with(0)
target._on_entry_foo.reset_mock()
target._in_state_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
target._on_exit_foo.assert_called_once_with(2.0)
target._on_entry_bar.assert_called_once_with(2.0)
target._in_state_bar.assert_called_once_with(2.0)
target._on_exit_foo.reset_mock()
target._on_entry_bar.reset_mock()
target._in_state_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
target._in_state_bar.assert_called_once_with(3.0)
target._on_entry_bar.assert_not_called()
target._on_exit_bar.assert_not_called()
def test_can_specify_state_handlers_as_list(self):
on_entry = Mock()
in_state = Mock()
on_exit = Mock()
sm = StateMachine({
'initial': 'foo',
'states': {
'foo': [on_entry, in_state, on_exit],
},
'transitions': {
('foo', 'bar'): lambda: True
}
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
on_entry.assert_called_once_with(0)
in_state.assert_called_once_with(0)
on_entry.reset_mock()
in_state.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
on_exit.assert_called_once_with(2.0)
on_exit.reset_mock()
# Third cycle only does an in_state in bar, shouldn't affect foo
sm.process(3.0)
on_entry.assert_not_called()
in_state.assert_not_called()
on_exit.assert_not_called()
def test_can(self):
sm = StateMachine({
'initial': 'init',
'transitions': {
('init', 'foo'): lambda: True,
('foo', 'bar'): lambda: True,
('bar', 'foo'): lambda: True,
('bar', 'init'): lambda: True,
('bar', 'bar'): lambda: True
}
})
self.assertEqual(sm.state, None)
self.assertIs(sm.can('init'), True)
self.assertIs(sm.can('foo'), False)
self.assertIs(sm.can('bar'), False)
self.assertIs(sm.can(None), False)
sm.process()
self.assertEqual(sm.state, 'init')
self.assertIs(sm.can('foo'), True)
self.assertIs(sm.can('bar'), False)
self.assertIs(sm.can('init'), False)
sm.process()
self.assertEqual(sm.state, 'foo')
self.assertIs(sm.can('bar'), True)
self.assertIs(sm.can('init'), False)
self.assertIs(sm.can('foo'), False)
sm.process()
self.assertEqual(sm.state, 'bar')
self.assertIs(sm.can('foo'), True)
self.assertIs(sm.can('init'), True)
self.assertIs(sm.can('bar'), True)
def test_can_specify_state_handlers_as_list(self):
on_entry = Mock()
in_state = Mock()
on_exit = Mock()
sm = StateMachine({
'initial': 'foo',
'states': {
'foo': [on_entry, in_state, on_exit],
},
'transitions': {
('foo', 'bar'): lambda: True
}
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
on_entry.assert_called_once_with(0)
in_state.assert_called_once_with(0)
on_entry.reset_mock()
in_state.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
on_exit.assert_called_once_with(2.0)
on_exit.reset_mock()
# Third cycle only does an in_state in bar, shouldn't affect foo
sm.process(3.0)
on_entry.assert_not_called()
in_state.assert_not_called()
on_exit.assert_not_called()
def test_bind_handlers_by_name_default_behaviour(self):
target = Mock()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(target)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
target._on_entry_foo.assert_called_once_with(0)
target._in_state_foo.assert_called_once_with(0)
target._on_entry_foo.reset_mock()
target._in_state_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
target._on_exit_foo.assert_called_once_with(2.0)
target._on_entry_bar.assert_called_once_with(2.0)
target._in_state_bar.assert_called_once_with(2.0)
target._on_exit_foo.reset_mock()
target._on_entry_bar.reset_mock()
target._in_state_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
target._in_state_bar.assert_called_once_with(3.0)
target._on_entry_bar.assert_not_called()
target._on_exit_bar.assert_not_called()
def test_bind_handlers_by_name_override(self):
# first target will accept any event call
first = Mock()
# second target will 'override' the events for bar
second = Mock(spec=['_on_entry_bar', '_in_state_bar', '_on_exit_bar'])
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(first)
sm.bind_handlers_by_name(second, override=True)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
first._on_entry_foo.assert_called_once_with(0)
first._in_state_foo.assert_called_once_with(0)
first._on_entry_foo.reset_mock()
first._in_state_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
first._on_exit_foo.assert_called_once_with(2.0)
second._on_entry_bar.assert_called_once_with(2.0)
second._in_state_bar.assert_called_once_with(2.0)
first._on_exit_foo.reset_mock()
second._on_entry_bar.reset_mock()
second._in_state_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
second._in_state_bar.assert_called_once_with(3.0)
second._on_entry_bar.assert_not_called()
second._on_exit_bar.assert_not_called()
# 'bar' events should not have been called on 'first'
first._on_entry_bar.assert_not_called()
first._in_state_bar.assert_not_called()
first._on_exit_bar.assert_not_called()
def test_bind_handlers_by_name_override(self):
# first target will accept any event call
first = Mock()
# second target will 'override' the events for bar
second = Mock(spec=['_on_entry_bar', '_in_state_bar', '_on_exit_bar'])
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(first)
sm.bind_handlers_by_name(second, override=True)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
first._on_entry_foo.assert_called_once_with(0)
first._in_state_foo.assert_called_once_with(0)
first._on_entry_foo.reset_mock()
first._in_state_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
first._on_exit_foo.assert_called_once_with(2.0)
second._on_entry_bar.assert_called_once_with(2.0)
second._in_state_bar.assert_called_once_with(2.0)
first._on_exit_foo.reset_mock()
second._on_entry_bar.reset_mock()
second._in_state_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
second._in_state_bar.assert_called_once_with(3.0)
second._on_entry_bar.assert_not_called()
second._on_exit_bar.assert_not_called()
# 'bar' events should not have been called on 'first'
first._on_entry_bar.assert_not_called()
first._in_state_bar.assert_not_called()
first._on_exit_bar.assert_not_called()
def test_bind_handlers_by_name_custom_prefix(self):
target = Mock()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(target,
prefix={
'on_entry': 'enter_',
'in_state': 'do_',
'on_exit': 'exit_',
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
target.enter_foo.assert_called_once_with(0)
target.do_foo.assert_called_once_with(0)
target.enter_foo.reset_mock()
target.do_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
target.exit_foo.assert_called_once_with(2.0)
target.enter_bar.assert_called_once_with(2.0)
target.do_bar.assert_called_once_with(2.0)
target.exit_foo.reset_mock()
target.enter_bar.reset_mock()
target.do_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
target.do_bar.assert_called_once_with(3.0)
target.enter_bar.assert_not_called()
target.exit_bar.assert_not_called()
def test_can_specify_state_handlers_as_dict(self):
on_entry = Mock()
in_state = Mock()
on_exit = Mock()
sm = StateMachine(
{
"initial": "foo",
"states": {
"foo": {
"on_entry": on_entry,
"in_state": in_state,
"on_exit": on_exit,
},
},
"transitions": {("foo", "bar"): lambda: True},
}
)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
on_entry.assert_called_once_with(0)
in_state.assert_called_once_with(0)
on_entry.reset_mock()
in_state.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
on_exit.assert_called_once_with(2.0)
on_exit.reset_mock()
# Third cycle only does an in_state in bar, shouldn't affect foo
sm.process(3.0)
on_entry.assert_not_called()
in_state.assert_not_called()
on_exit.assert_not_called()
def test_bind_handlers_by_name_custom_prefix(self):
target = Mock()
sm = StateMachine({
'initial': 'foo',
'transitions': {
('foo', 'bar'): lambda: True
}
})
sm.bind_handlers_by_name(target, prefix={
'on_entry': 'enter_',
'in_state': 'do_',
'on_exit': 'exit_',
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
target.enter_foo.assert_called_once_with(0)
target.do_foo.assert_called_once_with(0)
target.enter_foo.reset_mock()
target.do_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
target.exit_foo.assert_called_once_with(2.0)
target.enter_bar.assert_called_once_with(2.0)
target.do_bar.assert_called_once_with(2.0)
target.exit_foo.reset_mock()
target.enter_bar.reset_mock()
target.do_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
target.do_bar.assert_called_once_with(3.0)
target.enter_bar.assert_not_called()
target.exit_bar.assert_not_called()
def test_can(self):
sm = StateMachine(
{
"initial": "init",
"transitions": {
("init", "foo"): lambda: True,
("foo", "bar"): lambda: True,
("bar", "foo"): lambda: True,
("bar", "init"): lambda: True,
("bar", "bar"): lambda: True,
},
}
)
self.assertEqual(sm.state, None)
self.assertIs(sm.can("init"), True)
self.assertIs(sm.can("foo"), False)
self.assertIs(sm.can("bar"), False)
self.assertIs(sm.can(None), False)
sm.process()
self.assertEqual(sm.state, "init")
self.assertIs(sm.can("foo"), True)
self.assertIs(sm.can("bar"), False)
self.assertIs(sm.can("init"), False)
sm.process()
self.assertEqual(sm.state, "foo")
self.assertIs(sm.can("bar"), True)
self.assertIs(sm.can("init"), False)
self.assertIs(sm.can("foo"), False)
sm.process()
self.assertEqual(sm.state, "bar")
self.assertIs(sm.can("foo"), True)
self.assertIs(sm.can("init"), True)
self.assertIs(sm.can("bar"), True)
def test_can_specify_state_handlers_as_State(self, *_):
foo = State()
bar = State()
sm = StateMachine({
'initial': 'foo',
'states': {
'foo': foo,
'bar': bar,
},
'transitions': {
('foo', 'bar'): lambda: True
}
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
foo.on_entry.assert_called_once_with(0)
foo.in_state.assert_called_once_with(0)
foo.on_entry.reset_mock()
foo.in_state.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
foo.on_exit.assert_called_once_with(2.0)
bar.on_entry.assert_called_once_with(2.0)
bar.in_state.assert_called_once_with(2.0)
foo.on_exit.reset_mock()
bar.on_entry.reset_mock()
bar.in_state.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
bar.in_state.assert_called_once_with(3.0)
bar.on_entry.assert_not_called()
bar.on_exit.assert_not_called()
def test_can_specify_state_handlers_as_State(self, *_):
foo = State()
bar = State()
sm = StateMachine({
'initial': 'foo',
'states': {
'foo': foo,
'bar': bar,
},
'transitions': {
('foo', 'bar'): lambda: True
}
})
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
foo.on_entry.assert_called_once_with(0)
foo.in_state.assert_called_once_with(0)
foo.on_entry.reset_mock()
foo.in_state.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
foo.on_exit.assert_called_once_with(2.0)
bar.on_entry.assert_called_once_with(2.0)
bar.in_state.assert_called_once_with(2.0)
foo.on_exit.reset_mock()
bar.on_entry.reset_mock()
bar.in_state.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
bar.in_state.assert_called_once_with(3.0)
bar.on_entry.assert_not_called()
bar.on_exit.assert_not_called()
def test_bind_handlers_by_name_custom_prefix(self):
target = Mock()
sm = StateMachine(
{"initial": "foo", "transitions": {("foo", "bar"): lambda: True}}
)
sm.bind_handlers_by_name(
target,
prefix={
"on_entry": "enter_",
"in_state": "do_",
"on_exit": "exit_",
},
)
# First cycle enters and executes initial state, but forces delta T to zero
sm.process(1.0)
target.enter_foo.assert_called_once_with(0)
target.do_foo.assert_called_once_with(0)
target.enter_foo.reset_mock()
target.do_foo.reset_mock()
# Second cycle transitions due to lambda: True above
sm.process(2.0)
target.exit_foo.assert_called_once_with(2.0)
target.enter_bar.assert_called_once_with(2.0)
target.do_bar.assert_called_once_with(2.0)
target.exit_foo.reset_mock()
target.enter_bar.reset_mock()
target.do_bar.reset_mock()
# Third cycle only does an in_state in bar
sm.process(3.0)
target.do_bar.assert_called_once_with(3.0)
target.enter_bar.assert_not_called()
target.exit_bar.assert_not_called()
def test_first_cycle_transitions_to_initial(self):
sm = StateMachine({'initial': 'foobar'})
sm.process(0.1)
self.assertEqual(sm.state, 'foobar', "StateMachine failed to transition into "
"initial state on first cycle")
