Interface misuse checks - #231
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# Conflicts: # test/test_motion_statechart/test_motion_statechart.py
ichumuh
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Nov 24, 2025
| if ( | ||
| node._motion_statechart is not None | ||
| and node._motion_statechart is not self.motion_statechart | ||
| ): |
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I think all of these errors are special cases of this if. I think the code gets cleaner if you first check if the backreference is None and if yes, you add the node.
if not none, but the backreference is the same as the goal, you do nothing.
then you check your special cases and since you know the node already belongs to a statechart, you don't need many of the is not None checks anymore. you might even be able to use match/case
| goal = TestGoal() | ||
| msc.add_node(goal) | ||
| with pytest.raises(InvalidSelfReferenceInStartCondition): | ||
| goal.start_condition = goal.observation_variable > 0 |
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tests that the other conditions are fine
| n3 = ConstTrueNode() | ||
| msc.add_node(n1) | ||
| msc.add_node(n2) | ||
| msc.add_node(n3) |
| assert str(err.variable_name) == str(n1.life_cycle_variable.name) | ||
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| def test_end_condition_requires_observation_variables(): |
| n = ConstTrueNode() | ||
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| msc.add_node(g1) | ||
| msc.add_node(g2) |
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msc.add_nodes([
g1 := TestGoal(),
g2:= TestGoal(),
])# Conflicts: # giskardpy/motion_statechart/exceptions.py # giskardpy/motion_statechart/graph_node.py # giskardpy/motion_statechart/motion_statechart.py # test/test_motion_statechart/test_motion_statechart.py
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PR for the todo card: Implement interface misuse checks#201
One commit for each of the tasks
regarding the MotionStatechart.compile() issue i added two tests
test_compile_without_qp_controller_when_no_constraintsandtest_compile_raises_when_constraints_present_but_no_qp_configthat in my opinion test the desired behavior that was already present. Or did that issue mean something else?