def test_execution_multiple_conditions_all_false(self):
sm = StateMachineNetwork([State(1), State(2)], [Transition(1, 2)])
sm.states[1].set_biases([1, 2])
sm.states[1].set_weights([[1, 2], [3, 4]])
sm.transitions[1][0].add_condition(Condition(0, operator.eq, 4))
sm.transitions[1][0].add_condition(Condition(1, operator.gt, 10))
next_state, output = sm.activate(1, [5, 10])
self.assertEqual(next_state, 1)
self.assertEqual(output, [26, 57])
def test_distance_2(self):
config = init_config()
genome1 = TransitionGene((1, 2))
genome2 = TransitionGene((1, 2))
genome1.init_attributes(config)
genome2.init_attributes(config)
genome2.conditions.append(Condition(1, Condition.random_operator(), 1))
self.assertEqual(1, genome1.distance(genome2, config))
def encode(self, genome, generation, gen_hash=0):
""" This function encodes a State Machine genome to be send over ROS. """
encoded_states = SMROSEncoder.encode_states(genome.states)
encoded_transitions = []
for transition_id, transition in iteritems(genome.transitions):
enc_conditions = [
SMCondition(condition[0], Condition.op_to_int(condition[1]),
condition[2])
for condition in transition.conditions
]
or_comparison = False # To support legacy code, always make sure that it is in there.
if hasattr(transition, 'or_comparison'):
or_comparison = transition.or_comparison
encoded_transition = SMTransition(transition_id[0],
transition_id[1],
transition.enabled,
or_comparison, enc_conditions)
encoded_transitions.append(encoded_transition)
encoded_genome = SMGenome(
GenomeHeader(genome.key, gen_hash, generation),
encoded_transitions, encoded_states)
return encoded_genome
def test_many_conditions_true(self):
transition = Transition(1, 2)
transition.add_condition(Condition(1, operator.lt, 5))
transition.add_condition(Condition(2, operator.eq, 4))
transition.add_condition(Condition(2, operator.lt, 5))
transition.add_condition(Condition(0, operator.lt, 4))
transition.add_condition(Condition(1, operator.eq, 0))
transition.add_condition(Condition(0, operator.lt, 4))
self.assertTrue(transition.check_transition([0, 0, 4]))
def decode(self, encoded_genome):
""" This function decodes a ROS encoded state machine genome into a normal state machine genome."""
states = SMROSEncoder.decode_states(encoded_genome.states)
transitions = {}
for enc_transition in encoded_genome.transitions:
key = (enc_transition.source, enc_transition.dest)
transitions[key] = TransitionGene(key)
transitions[key].enabled = enc_transition.enabled
transitions[key].conditions = [
(enc_condition.inputSensor,
Condition.int_to_op(enc_condition.operator),
enc_condition.comparator_value)
for enc_condition in enc_transition.conditions
]
genome = StateMachineGenome(encoded_genome.header.key)
genome.transitions = transitions
genome.states = states
return genome
def test_sensor_out_of_range(self):
condition = Condition(5, operator.gt, 1)
self.assertRaises(IndexError, condition.compare, [10, 10, 0, 0.5])
def test_invalid_condition(self):
condition = Condition(2, operator.gt, 1)
self.assertFalse(condition.compare([10, 10, 0, 0.5]))
def test_valid_condition(self):
condition = Condition(3, operator.lt, 1)
self.assertTrue(condition.compare([10, 10, 10, 0.5]))
def test_two_conditions_false(self):
transition = Transition(1, 2)
transition.add_condition(Condition(1, operator.eq, 5))
transition.add_condition(Condition(2, operator.eq, 4))
self.assertFalse(transition.check_transition([0, 0, 4]))
def test_one_condition_true(self):
transition = Transition(1, 2)
transition.add_condition(Condition(2, operator.eq, 5))
self.assertTrue(transition.check_transition([0, 0, 5]))