A ROS2 package to interface with a state machine and model for a cursor-based center-out, out-center behavioral task, with a delay period after the initial hold.
License: Mozilla Public License 2.0
During normal operation of the task, duplicate state transitions are being observed where only one is expected. The testing infrastructure ~is~~ was not set up to detect this.
An illustration of the repeated state from the console:
[INFO] [main-2]: process started with pid [NNNNNN]
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: start_block
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: intertrial
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: timeout
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: to_move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: timeout
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: failure
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: timeout
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: end_trial
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: intertrial
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: intertrial
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: timeout
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: to_move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: State: move_a
[node-1] [INFO] [NNNNNNNNNN.NNNNNNNNN] [machine.delay_out_center_task]: Event: timeout
Likely, this is actually an issue with the delay_out_center_task package. However, the testing infrastructure for this package is currently superior. The following code can be used to illustrate the issue:
from delay_out_center_task import Environment, Machine, Model
def timeout(self, *args, **kwargs):
print('Timeout')
self.cancel_timeout()
Model.timeout = timeout
environment = Environment()
model = Model(environment=environment)
machine = Machine(model=model)
model.trigger('start_block')
model.trigger('timeout')Created the [ricmua/duplicate_state_transition_issue](https://github.com/ricmua/ros_delay_out_center_task/tree/ricmua/duplicate_state_transition_issue) branch to illustrate and deal with this issue.
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