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test_sequences.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("Nosetest")
##############################################################################
# Tests
##############################################################################
def test_running_with_no_memory_children_do_not_reset() -> None:
console.banner("Tick-Running with No Memory - Children Do Not Reset")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Sequence(name="Sequence w/o Memory", memory=False)
child_1 = py_trees.behaviours.StatusQueue(
name="R-S",
queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.SUCCESS],
eventually=py_trees.common.Status.SUCCESS,
)
child_2 = py_trees.behaviours.Success("Success")
root.add_children([child_1, child_2])
# Expect
# 1. R - [R, I]
# 2. S - [S, S] <- NB: first child doesn't reset
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"1::Sequence 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.RUNNING, child_1.status
)
assert child_1.status == py_trees.common.Status.RUNNING
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
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.SUCCESS, child_2.status
)
assert child_2.status == py_trees.common.Status.SUCCESS
def test_running_with_no_memory_invalidate_dangling_runners() -> None:
console.banner("Tick-Running with No Memory - Invalidate Dangling Runners")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Sequence(name="Sequence w/o Memory", memory=False)
child_1 = py_trees.behaviours.StatusQueue(
name="Success-Running",
queue=[py_trees.common.Status.SUCCESS, py_trees.common.Status.RUNNING],
eventually=None,
)
child_2 = py_trees.behaviours.Running("Running")
root.add_children([child_1, child_2])
# Expect
# 1. R - [S, R]
# 2. R - [R, I] <- NB: second child is invalidated
root.tick_once()
print(py_trees.display.unicode_tree(root, show_status=True))
py_trees.tests.print_assert_details(
"1::Sequence 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.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.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.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.RUNNING, child_1.status
)
assert child_1.status == py_trees.common.Status.RUNNING
py_trees.tests.print_assert_details( # type: ignore[unreachable]
"2::Child 2 Status", py_trees.common.Status.INVALID, child_2.status
)
assert child_2.status == py_trees.common.Status.INVALID
def test_running_with_memory_proceeds() -> None:
# This test should check two things:
# 1) Skipped higher priorities are set to INVALID
# 2) On a running behaviour's eventual SUCCESS, it proceeds
console.banner("Tick-Running with Memory - Proceeds on Success")
py_trees.tests.print_assert_banner()
root = py_trees.composites.Sequence(name="Sequence w/ Memory", memory=True)
child_1 = py_trees.behaviours.Success(name="Success")
child_2 = py_trees.behaviours.StatusQueue(
name="R-S",
queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.SUCCESS],
eventually=None,
)
child_3 = py_trees.behaviours.Running(name="Running")
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::Sequence 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.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.RUNNING, child_2.status
)
assert child_2.status == py_trees.common.Status.RUNNING
py_trees.tests.print_assert_details(
"3::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::Sequence 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.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.SUCCESS, child_2.status
)
assert child_2.status == py_trees.common.Status.SUCCESS
py_trees.tests.print_assert_details( # type: ignore[unreachable]
"3::Child 3 Status", py_trees.common.Status.RUNNING, child_3.status
)
assert child_3.status == py_trees.common.Status.RUNNING
def test_static_sequence_successes() -> None:
console.banner("Static Sequence Successes")
py_trees.tests.print_assert_banner()
success1 = py_trees.behaviours.Success(name="Success1")
success2 = py_trees.behaviours.Success(name="Success2")
success3 = py_trees.behaviours.Success(name="Success3")
success4 = py_trees.behaviours.Success(name="Success4")
children = [
success1,
success2,
success3,
success4,
]
root = py_trees.composites.Sequence(name="Sequence", memory=True, children=children)
root.tick_once()
tip = root.tip()
assert tip is not None
assert root.current_child is not None
py_trees.tests.print_assert_details(
"Current Child", success4.name, root.current_child.name
)
assert tip.name == success4.name, "should execute all 4 nodes of this Sequence"
def test_static_sequence_with_failure() -> None:
console.banner("Static Sequence With Failure")
py_trees.tests.print_assert_banner()
success1 = py_trees.behaviours.Success(name="Success1")
success2 = py_trees.behaviours.Success(name="Success2")
failure = py_trees.behaviours.Failure(name="Failure")
success3 = py_trees.behaviours.Success(name="Success3")
children = [
success1,
success2,
failure,
success3,
]
root = py_trees.composites.Sequence(name="Sequence", memory=True, children=children)
root.tick_once()
tip = root.tip()
assert tip is not None
assert root.current_child is not None
py_trees.tests.print_assert_details(
"Current Child", failure.name, root.current_child.name
)
assert (
tip.name == failure.name
), "should execute first 2 nodes of this Sequence and fail"
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.Sequence(name="Sequence", memory=True)
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.Sequence(name="Sequence", memory=True)
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.Sequence(name="Sequence", memory=True)
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.Sequence(name="Sequence", memory=True)
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