test_StateMachine.py

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#!/usr/bin/env python
# -*- Python -*-
 
#
# \file test_StateMachine.py
# \brief State machine template class
# \date $Date: 2007/08/30$
# \author Shinji Kurihara
#
# Copyright (C) 2006
#     Task-intelligence Research Group,
#     Intelligent Systems Research Institute,
#     National Institute of
#         Advanced Industrial Science and Technology (AIST), Japan
#     All rights reserved.
#
 
import sys
sys.path.insert(1,"../")
 
import unittest
 
from StateMachine import *
import OpenRTM_aist
 
    
 
class TestStateMachine(unittest.TestCase):
# state = [0,1,2]
  state = [RTC.INACTIVE_STATE, RTC.ACTIVE_STATE, RTC.ERROR_STATE]
 
  def setUp(self):
    self._sm = StateMachine(3)
 
    self._sm.setNOP(self.nullAction)
    
    self._sm.setEntryAction(RTC.ACTIVE_STATE, self.on_activated)
    self._sm.setEntryAction(RTC.ERROR_STATE,self.on_aborting)
    self._sm.setPreDoAction(RTC.ACTIVE_STATE, self.on_reset)
    self._sm.setDoAction(RTC.ACTIVE_STATE, self.on_execute)
    self._sm.setPostDoAction(RTC.ACTIVE_STATE, self.on_state_update)
    self._sm.setExitAction(RTC.ACTIVE_STATE, self.on_deactivated)
    self._sm.setExitAction(RTC.ERROR_STATE, self.on_reset)
    self._sm.setTransitionAction(self.transition)
 
    self._sm.setListener(self)
    st = StateHolder()
    st.prev = RTC.INACTIVE_STATE
    st.curr = RTC.INACTIVE_STATE
    st.next = RTC.INACTIVE_STATE
    self._sm.setStartState(st)
    self._sm.goTo(RTC.INACTIVE_STATE)
    
  def tearDown(self):
    OpenRTM_aist.Manager.instance().shutdownManager()
    return
 
  def nullAction(self, st):
    print("nullAction.")
    return True
 
  def on_activated(self, st):
    print("on_activated.")
    return True
 
  def on_deactivated(self, st):
    print("on_deactivated.")
    return True
 
  def on_aborting(self, st):
    print("on_aborting.")
    return True
 
  def on_error(self, st):
    print("on_error.")
    return True
 
  def on_reset(self, st):
    print("on_reset.")
    return True
 
  def on_execute(self, st):
    print("on_execute.")
    return True
 
  def on_state_update(self, st):
    print("on_state_update.")
    return True
 
  def transition(self, st):
    print("transition.")
    return True
 
 
  def test_setNOP(self):
    self._sm.setNOP(self.nullAction)
  
  
  def test_getStates(self):
    self.assertEqual(self._sm.getStates().curr, RTC.INACTIVE_STATE)
    self.assertEqual(self._sm.getStates().prev, RTC.INACTIVE_STATE)
    self.assertEqual(self._sm.getStates().next, RTC.INACTIVE_STATE)
 
    st = StateHolder()
    st.prev = RTC.ERROR_STATE
    st.curr = RTC.ERROR_STATE
    st.next = RTC.ERROR_STATE
    self._sm.setStartState(st)
 
    self.assertEqual(self._sm.getStates().curr, RTC.ERROR_STATE)
    self.assertEqual(self._sm.getStates().prev, RTC.ERROR_STATE)
    self.assertEqual(self._sm.getStates().next, RTC.ERROR_STATE)
    
  def test_getState(self):
    self.assertEqual(self._sm.getState(), RTC.INACTIVE_STATE)
  
  def test_isIn(self):
    self.assertEqual(self._sm.isIn(RTC.INACTIVE_STATE), True)
  
  def test_goTo(self):
    self._sm.goTo(RTC.INACTIVE_STATE)
  
#  def test_worker(self):
#   self._sm.goTo(RTC.ACTIVE_STATE)
#   self.assertEqual(self._sm.worker(), True)
#   self.assertEqual(self._sm.worker(), True)
#   self._sm.goTo(RTC.INACTIVE_STATE)
#   self.assertEqual(self._sm.worker(), True)
#   self.assertEqual(self._sm.worker(), True)
  
 
 
if __name__ == '__main__':
        unittest.main()