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add YED geometry import tests

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This commit is contained in:
Alexey Fedoseev
2024-04-27 11:52:42 +03:00
parent 7e684b7f30
commit 02b6a62268
12 changed files with 768 additions and 61 deletions
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6
tests/18-output.txt
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@@ -1,5 +1,5 @@
Document: {id: '', name: 'orientation', format: 'yEd Ostranna', meta: {standard version: '1.0', name: 'orientation', transition order: transition first, event propagation: block events}, elements: {State Machine: {id: 'G', name: 'orientation', elements: {Composite State: {id: 'n0', name: 'orientation', actions: {a {entry}}, geometry: (409.905; 50.5953; 1149.48; 725.384), elements: {Composite State: {id: 'n0::n0', name: 'turn', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (445.462; 97.7135; 297.495; 506.213), elements: {Simple State: {id: 'n0::n0::n0', name: 'slow_down', actions: {a {entry, behavior: 'reduce_speed()'}}, geometry: (460.462; 286.453; 267.495; 69.2119)}, Simple State: {id: 'n0::n0::n1', name: 'start_turn', actions: {a {entry, behavior: 'calculate_turn()'}}, geometry: (460.462; 396.384; 267.495; 69.2119)}, Initial: {id: 'n0::n0::n2', name: '', geometry: (594.209; 247.953)}, Simple State: {id: 'n0::n0::n3', name: 'finish_turn', actions: {a {entry, behavior: 'complete_turn()'}}, geometry: (460.462; 506.315; 267.495; 69.2119)}}}, Simple State: {id: 'n0::n1', name: 'idle', actions: {a {entry}}, geometry: (766.168; 103.962; 313.217; 117.952)}, Composite State: {id: 'n0::n2', name: 'wait', actions: {a {entry}}, geometry: (1102.6; 106.937; 432.213; 640.663), elements: {Composite State: {id: 'n0::n2::n0', name: 'maintain', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (1121.6; 320.744; 393.6; 400.074), elements: {Simple State: {id: 'n0::n2::n0::n0', name: 'correct_cw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, -M)'}}, geometry: (1140.35; 479.237; 358.315; 75.3372)}, Simple State: {id: 'n0::n2::n0::n1', name: 'correct_ccw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, M)'}}, geometry: (1140.35; 624.163; 358.315; 75.3372)}, Initial: {id: 'n0::n2::n0::n2', name: '', geometry: (1319.51; 436.353)}}}, Simple State: {id: 'n0::n2::n1', name: 'static', actions: {a {entry}}, geometry: (1122.71; 201.439; 393.6; 75.3372)}, Initial: {id: 'n0::n2::n2', name: '', geometry: (1319.51; 158.554)}}}}}, Initial: {id: 'n1', name: '', geometry: (945.784; -25.4024)}, Comment: {id: 'n2', body: 'Init scripts:
Document: {id: '', name: 'orientation', format: 'yEd Ostranna', meta: {standard version: '1.0', name: 'orientation', transition order: transition first, event propagation: block events}, elements: {State Machine: {id: 'G', name: 'orientation', elements: {Composite State: {id: 'n0', name: 'orientation', actions: {a {entry}}, geometry: (409.905; 50.5953; 1149.48; 725.384), elements: {Composite State: {id: 'n0::n0', name: 'turn', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (35.5575; 47.1182; 297.495; 506.213), elements: {Simple State: {id: 'n0::n0::n0', name: 'slow_down', actions: {a {entry, behavior: 'reduce_speed()'}}, geometry: (15; 188.739; 267.495; 69.2119)}, Simple State: {id: 'n0::n0::n1', name: 'start_turn', actions: {a {entry, behavior: 'calculate_turn()'}}, geometry: (15; 298.671; 267.495; 69.2119)}, Initial: {id: 'n0::n0::n2', name: '', geometry: (148.747; 150.239)}, Simple State: {id: 'n0::n0::n3', name: 'finish_turn', actions: {a {entry, behavior: 'complete_turn()'}}, geometry: (15; 408.602; 267.495; 69.2119)}}}, Simple State: {id: 'n0::n1', name: 'idle', actions: {a {entry}}, geometry: (356.263; 53.3672; 313.217; 117.952)}, Composite State: {id: 'n0::n2', name: 'wait', actions: {a {entry}}, geometry: (692.692; 56.3415; 432.213; 640.663), elements: {Composite State: {id: 'n0::n2::n0', name: 'maintain', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (19; 213.807; 393.6; 400.074), elements: {Simple State: {id: 'n0::n2::n0::n0', name: 'correct_cw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, -M)'}}, geometry: (18.7537; 158.493; 358.315; 75.3372)}, Simple State: {id: 'n0::n2::n0::n1', name: 'correct_ccw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, M)'}}, geometry: (18.7537; 303.419; 358.315; 75.3372)}, Initial: {id: 'n0::n2::n0::n2', name: '', geometry: (197.911; 115.609)}}}, Simple State: {id: 'n0::n2::n1', name: 'static', actions: {a {entry}}, geometry: (20.1112; 94.5019; 393.6; 75.3372)}, Initial: {id: 'n0::n2::n2', name: '', geometry: (216.911; 51.617)}}}}}, Initial: {id: 'n1', name: '', geometry: (945.784; -25.4024)}, Comment: {id: 'n2', body: 'Init scripts:
test3sm_constants.py
test3sm_orient.py', geometry: (445.462; 652.554; 160.084; 95.0456)}, Transition: {id: 'e0', source: 'n1', target: 'n0::n1', sp: (0; 0), tp: (23.0079; -7.04775)}, Transition: {id: 'e1', source: 'n0', target: 'n0::n1', action: {trigger: 'STOP'}, sp: (-157.872; -122.809), tp: (-4.11896; -7.29727), label: (-50.9045; -43.7766), polyline: [ (826.77; -4.95139), (918.657; -4.95139) ]}, Transition: {id: 'n0::e0', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'TANGENT(target_a)', behavior: 'update_turn_parameters(target_a, 0.0)'}, sp: (95.232; 21.0292), tp: (129.208; 23.5618), label: (-248.977; 112.881), polyline: [ (1018.01; 374.382) ]}, Transition: {id: 'n0::e1', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'BACK(target_a)', behavior: 'update_turn_parameters(target_a, 180.0)'}, sp: (113.643; 25.9294), tp: (148.774; 117.967), label: (-263.427; 205.217), polyline: [ (1036.42; 468.787) ]}, Transition: {id: 'n0::n0::e0', source: 'n0::n0::n2', target: 'n0::n0::n0', sp: (0; 0), tp: (0; 0)}, Transition: {id: 'n0::n0::e1', source: 'n0::n0::n0', target: 'n0::n0::n1', action: {guard: 'completed()'}, sp: (0; 0), tp: (0; 0), label: (1.57495; 11.3862)}, Transition: {id: 'n0::n0::e2', source: 'n0::n0::n1', target: 'n0::n0::n3', action: {guard: 'completed()'}, sp: (0; 0), tp: (0; 0), label: (5.91246; 11.3862)}, Transition: {id: 'n0::e2', source: 'n0::n2', target: 'n0::n1', action: {trigger: 'TIME_TICK', guard: 'orientation_completed()', behavior: 'DISPATCH(cpu, 'ORIENTED')
DISPATCH(navigation, 'ORIENTED')'}, sp: (-216.094; 98.8431), tp: (128.22; 13.3933), label: (-237.116; 17.6562), polyline: [ (1051; 526.111) ]}, Transition: {id: 'n0::n2::n0::e0', source: 'n0::n2::n0::n0', target: 'n0::n2::n0::n1', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) < DW'}, sp: (-154.389; 1.81038), tp: (-154.389; 5.48153), label: (11.4035; 9.5621)}, Transition: {id: 'n0::n2::n0::e1', source: 'n0::n2::n0::n1', target: 'n0::n2::n0::n0', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) > DW'}, sp: (163.3; -10.0207), tp: (163.3; 1.09301), label: (-299.03; -26.1772)}, Transition: {id: 'n0::n2::n0::e2', source: 'n0::n2::n0::n2', target: 'n0::n2::n0::n0', sp: (0; 0), tp: (0; 0)}, Transition: {id: 'n0::n2::e0', source: 'n0::n2::n2', target: 'n0::n2::n1', sp: (0; 0), tp: (0; 0)}, Transition: {id: 'n0::e3', source: 'n0::n0::n3', target: 'n0::n2', action: {guard: 'completed()'}, sp: (71.4174; 14.495), tp: (-17.6166; 284.015), label: (17.5826; 96.7526), polyline: [ (665.627; 711.284) ]}, Transition: {id: 'n0::n2::e1', source: 'n0::n2::n0', target: 'n0::n2::n1', action: {guard: 'is_target_dw()'}, sp: (138.108; -80.2858), tp: (136.997; 11.0857), label: (-100.932; -30.9909)}, Transition: {id: 'n0::n2::e2', source: 'n0::n2::n1', target: 'n0::n2::n0', action: {guard: 'not is_target_dw()'}, sp: (-136.091; 13.4535), tp: (-134.98; -169.298), label: (9.66948; 13.8096)}}}}
test3sm_orient.py', geometry: (445.462; 652.554; 160.084; 95.0456)}, Transition: {id: 'e0', source: 'n1', target: 'n0::n1', sp: (0; 10), tp: (156.608; 0)}, Transition: {id: 'e1', source: 'n0', target: 'n0::n1', action: {trigger: 'STOP'}, sp: (574.738; 0), tp: (156.608; 0), label: (-50.9045; -43.7766), polyline: [ (826.77; -4.95139), (918.657; -4.95139) ]}, Transition: {id: 'n0::e0', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'TANGENT(target_a)', behavior: 'update_turn_parameters(target_a, 0.0)'}, sp: (156.608; 117.952), tp: (297.495; 276.668), label: (-248.977; 112.881), polyline: [ (1018.01; 374.382) ]}, Transition: {id: 'n0::e1', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'BACK(target_a)', behavior: 'update_turn_parameters(target_a, 180.0)'}, sp: (156.608; 117.952), tp: (297.495; 371.074), label: (-263.427; 205.217), polyline: [ (1036.42; 468.787) ]}, Transition: {id: 'n0::n0::e0', source: 'n0::n0::n2', target: 'n0::n0::n0', sp: (0; 10), tp: (133.747; 0)}, Transition: {id: 'n0::n0::e1', source: 'n0::n0::n0', target: 'n0::n0::n1', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (133.747; 0), label: (1.57495; 11.3862)}, Transition: {id: 'n0::n0::e2', source: 'n0::n0::n1', target: 'n0::n0::n3', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (133.747; 0), label: (5.91246; 11.3862)}, Transition: {id: 'n0::e2', source: 'n0::n2', target: 'n0::n1', action: {trigger: 'TIME_TICK', guard: 'orientation_completed()', behavior: 'DISPATCH(cpu, 'ORIENTED')
DISPATCH(navigation, 'ORIENTED')'}, sp: (0; 419.174), tp: (156.608; 117.952), label: (-237.116; 17.6562), polyline: [ (1051; 526.111) ]}, Transition: {id: 'n0::n2::n0::e0', source: 'n0::n2::n0::n0', target: 'n0::n2::n0::n1', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) < DW'}, sp: (179.158; 75.3372), tp: (179.158; 0), label: (11.4035; 9.5621)}, Transition: {id: 'n0::n2::n0::e1', source: 'n0::n2::n0::n1', target: 'n0::n2::n0::n0', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) > DW'}, sp: (179.158; 0), tp: (179.158; 75.3372), label: (-299.03; -26.1772)}, Transition: {id: 'n0::n2::n0::e2', source: 'n0::n2::n0::n2', target: 'n0::n2::n0::n0', sp: (0; 10), tp: (179.158; 0)}, Transition: {id: 'n0::n2::e0', source: 'n0::n2::n2', target: 'n0::n2::n1', sp: (0; 10), tp: (196.8; 0)}, Transition: {id: 'n0::e3', source: 'n0::n0::n3', target: 'n0::n2', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (0; 604.347), label: (17.5826; 96.7526), polyline: [ (665.627; 711.284) ]}, Transition: {id: 'n0::n2::e1', source: 'n0::n2::n0', target: 'n0::n2::n1', action: {guard: 'is_target_dw()'}, sp: (196.8; 0), tp: (196.8; 75.3372), label: (-100.932; -30.9909)}, Transition: {id: 'n0::n2::e2', source: 'n0::n2::n1', target: 'n0::n2::n0', action: {guard: 'not is_target_dw()'}, sp: (196.8; 75.3372), tp: (196.8; 0), label: (9.66948; 13.8096)}}}}