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test_selectors.py
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#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Imports
##############################################################################
import py_trees
import py_trees.console as console
##############################################################################
# Logging Level
##############################################################################
py_trees.logging.level = py_trees.logging.Level.DEBUG
logger = py_trees.logging.Logger("Tests")
##############################################################################
# Tests
##############################################################################
def test_tick_running_with_no_memory() -> None:
console.banner("Tick-Running with No Memory")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector w/o Memory", memory=False)
child_1 = py_trees.behaviours.StatusQueue(
name="Fail Fast",
queue=[py_trees.common.Status.FAILURE],
eventually=py_trees.common.Status.SUCCESS,
)
child_2 = py_trees.behaviours.Running(name="Running")
root.add_children([child_1, child_2])
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"1::Selector Status", py_trees.common.Status.RUNNING, root.status
)
assert root.status == py_trees.common.Status.RUNNING
py_trees.tests.print_assert_details(
"2::Child 1 Status", py_trees.common.Status.FAILURE, child_1.status
)
assert child_1.status == py_trees.common.Status.FAILURE
py_trees.tests.print_assert_details(
"2::Child 2 Status", py_trees.common.Status.RUNNING, child_2.status
)
assert child_2.status == py_trees.common.Status.RUNNING
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"2::Selector Status", py_trees.common.Status.SUCCESS, root.status
)
assert root.status == py_trees.common.Status.SUCCESS
py_trees.tests.print_assert_details( # type: ignore[unreachable]
"2::Child 1 Status", py_trees.common.Status.SUCCESS, child_1.status
)
assert child_1.status == py_trees.common.Status.SUCCESS
py_trees.tests.print_assert_details(
"2::Child 2 Status", py_trees.common.Status.INVALID, child_2.status
)
assert child_2.status == py_trees.common.Status.INVALID
def test_with_memory_priority_handling() -> None:
# This test should check two things:
# 1) Skipped higher priorities are set to INVALID
# 2) On a running behaviour's eventual FAILURE, it proceeds to the next lower priority
console.banner("Tick-Running with Memory - Priority Handling")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector w/ Memory", memory=True)
child_1 = py_trees.behaviours.Failure("Failure")
child_2 = py_trees.behaviours.StatusQueue(
name="Run-Fail",
queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.FAILURE],
eventually=None,
)
child_3 = py_trees.behaviours.Success(name="Success")
root.add_children([child_1, child_2, child_3])
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"1::Selector Status", py_trees.common.Status.RUNNING, root.status
)
assert root.status == py_trees.common.Status.RUNNING
py_trees.tests.print_assert_details(
"1::Child 1 Status", py_trees.common.Status.FAILURE, child_1.status
)
assert child_1.status == py_trees.common.Status.FAILURE
py_trees.tests.print_assert_details(
"1::Child 2 Status", py_trees.common.Status.RUNNING, child_2.status
)
assert child_2.status == py_trees.common.Status.RUNNING
py_trees.tests.print_assert_details(
"1::Child 3 Status", py_trees.common.Status.INVALID, child_3.status
)
assert child_3.status == py_trees.common.Status.INVALID
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"1::Selector Status", py_trees.common.Status.SUCCESS, root.status
)
assert root.status == py_trees.common.Status.SUCCESS
py_trees.tests.print_assert_details( # type: ignore[unreachable]
"2::Child 1 Status", py_trees.common.Status.INVALID, child_1.status
)
assert child_1.status == py_trees.common.Status.INVALID
py_trees.tests.print_assert_details(
"2::Child 2 Status", py_trees.common.Status.FAILURE, child_2.status
)
assert child_2.status == py_trees.common.Status.FAILURE
py_trees.tests.print_assert_details(
"2::Child 3 Status", py_trees.common.Status.SUCCESS, child_3.status
)
assert child_3.status == py_trees.common.Status.SUCCESS
##############################################################################
# Tests - Dynamic Insertion / Removal
##############################################################################
def test_tick_add_with_current_child() -> None:
console.banner("Tick-Add with Current Child")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector", memory=False)
root.tick_once()
child = py_trees.behaviours.Failure(name="Failure")
print(py_trees.display.unicode_tree(root, show_status=True))
root.add_child(child)
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details("Current Child", None, root.current_child)
assert root.current_child is None
def test_add_tick_add_with_current_child() -> None:
console.banner("Add-Tick-Add with Current Child")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector", memory=False)
run1 = py_trees.behaviours.Running("Run1")
run2 = py_trees.behaviours.Running("Run2")
root.add_child(run1)
root.tick_once()
assert root.current_child is not None
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"Current Child", run1.name, root.current_child.name
)
assert root.current_child.name == run1.name
root.add_child(run2)
assert root.current_child is not None
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"Current Child", run1.name, root.current_child.name
)
assert root.current_child.name == run1.name
def test_add_tick_insert_with_current_child() -> None:
console.banner("Add-Tick-Insert with Current Child")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector", memory=False)
run1 = py_trees.behaviours.Running("Run1")
run2 = py_trees.behaviours.Running("Run2")
root.add_child(run1)
root.tick_once()
assert root.current_child is not None
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"Current Child", run1.name, root.current_child.name
)
assert root.current_child.name == run1.name
root.insert_child(run2, index=0)
assert root.current_child is not None
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"Current Child", run1.name, root.current_child.name
)
assert root.current_child.name == run1.name
def test_add_tick_remove_with_current_child() -> None:
console.banner("Add-Tick-Remove with Current Child")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Selector(name="Selector", memory=False)
child = py_trees.behaviours.Success(name="Success")
root.add_child(child)
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
root.remove_child(child)
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details("Current Child", None, root.current_child)
assert root.current_child is None
root.add_child(child)
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
root.remove_all_children()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details("Current Child", None, root.current_child)
assert root.current_child is None
replacement = py_trees.behaviours.Success(name="Replacement")
root.add_child(child)
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
root.replace_child(child=child, replacement=replacement)
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details("Current Child", None, root.current_child)
assert root.current_child is None
root.remove_all_children()
root.add_child(child)
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
root.remove_child_by_id(child_id=child.id)
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details("Current Child", None, root.current_child)
assert root.current_child is None