Write system test

Signed-off-by: Marco Lampacrescia <marco.lampacrescia@de.bosch.com>

scxml_converter/src/scxml_converter/scxml_entries/scxml_root.py

@@ -32,8 +32,12 @@ def __init__(self, name: str):
         self._states: List[ScxmlState] = []
         self._data_model: ScxmlDataModel = None
 
-    def add_state(self, state: ScxmlState, initial: bool = False):
+    def add_state(self, state: ScxmlState, *, initial: bool = False):
+        """Append a state to the list of states. If initial is True, set it as the initial state."""
         self._states.append(state)
+        if initial:
+            assert self._initial_state is None, "Error: SCXML root: Initial state already set"
+            self._initial_state = state.get_id()
 
     def set_data_model(self, data_model: ScxmlDataModel):
         assert self._data_model is None, "Data model already set"

scxml_converter/src/scxml_converter/scxml_entries/scxml_state.py

@@ -36,6 +36,9 @@ def __init__(self, id: str, *,
         self._on_exit = on_exit
         self._body = body
 
+    def get_id(self) -> str:
+        return self._id
+
     def check_validity(self) -> bool:
         valid_id = isinstance(self._id, str) and len(self._id) > 0
         valid_on_entry = self._on_entry is None or valid_execution_body(self._on_entry)

scxml_converter/test/test_systemtest_scxml_entries.py

@@ -1,4 +1,46 @@
+# Copyright (c) 2024 - for information on the respective copyright owner
+# see the NOTICE file
 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from xml.etree import ElementTree as ET
+from test_utils import canonicalize_xml
+from scxml_converter.scxml_entries import ScxmlRoot, ScxmlDataModel, ScxmlState, ScxmlSend, ScxmlParam, \
+    ScxmlTransition, ScxmlAssign
+
+
+def test_battery_drainer_from_code():
+    battery_drainer_scxml = ScxmlRoot("BatteryDrainer")
+    battery_drainer_scxml.set_data_model(ScxmlDataModel([("battery", "100")]))
+    use_battery_state = ScxmlState("use_battery",
+                                   onentry=[ScxmlSend("ros_topic.level", "BatteryManager",
+                                                      [ScxmlParam("data", expr="battery_percent")])],
+                                   body=[ScxmlTransition("use_battery", "ros_time_rate.my_timer",
+                                                         body=[ScxmlAssign("battery_percent", "battery_percent - 1")]),
+                                         ScxmlTransition("use_battery", "ros_topic.charge",
+                                                         body=[ScxmlAssign("battery_percent", "100")])])
+    battery_drainer_scxml.add_state(use_battery_state, initial=True)
+    # Check output xml
+    ref_file = os.path.join(os.path.dirname(__file__), '_test_data', 'expected_output', 'battery_drainer.scxml')
+    with open(ref_file, 'r', encoding='utf-8') as f_o:
+        expected_output = f_o.read()
+    test_output = ET.dump(battery_drainer_scxml.as_xml())
+    assert canonicalize_xml(test_output) == canonicalize_xml(expected_output)
+
+
+if __name__ == '__main__':
+    test_battery_drainer_from_code()
 
 # We want to support ..
 
@@ -17,8 +59,7 @@
 # - send
 #     - param
 # - if / elseif / else
-# - assign 
+# - assign
 
 # dump to scxml file
 # (read scxml file)
-

scxml_converter/test/test_systemtest_xml.py

@@ -14,20 +14,11 @@
 # limitations under the License.
 
 import os
-import xml.etree.ElementTree as ET
+from test_utils import canonicalize_xml
 
 from scxml_converter.scxml_converter import scxml_converter
 
 
-def _canonicalize_xml(xml: str) -> str:
-    """Helper function to make XML comparable."""
-    # sort attributes
-    et = ET.fromstring(xml)
-    for elem in et.iter():
-        elem.attrib = {k: elem.attrib[k] for k in sorted(elem.attrib.keys())}
-    return ET.tostring(et, encoding='unicode')
-
-
 def test_scxml_w_ros_to_plain_jani():
     for fname in ['battery_manager.scxml', 'battery_drainer.scxml']:
         input_file = os.path.join(os.path.dirname(__file__),
@@ -40,12 +31,13 @@ def test_scxml_w_ros_to_plain_jani():
         out = sms[0]
         with open(output_file, 'r', encoding='utf-8') as f_o:
             expected_output = f_o.read()
-        assert _canonicalize_xml(out) == _canonicalize_xml(expected_output)
+        assert canonicalize_xml(out) == canonicalize_xml(expected_output)
 
         # if fname == 'battery_drainer.scxml':
         #     assert len(sms) == 2, "Must also have the time state machine."
         # elif fname == 'battery_manager.scxml':
         #     assert len(sms) == 1, "Must only have the battery state machine."
 
+
 if __name__ == '__main__':
     test_scxml_w_ros_to_plain_jani()

scxml_converter/test/test_utils.py

@@ -0,0 +1,25 @@
+# Copyright (c) 2024 - for information on the respective copyright owner
+# see the NOTICE file
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from xml.etree import ElementTree as ET
+
+
+def canonicalize_xml(xml: str) -> str:
+    """Helper function to make XML comparable."""
+    # sort attributes
+    et = ET.fromstring(xml)
+    for elem in et.iter():
+        elem.attrib = {k: elem.attrib[k] for k in sorted(elem.attrib.keys())}
+    return ET.tostring(et, encoding='unicode')