def test_nested_exists():
console.banner("Nested Read")
for create in [create_blackboards, create_namespaced_blackboards]:
with create() as (foo, unused_bar, namespace):
print("foo.exists('motley.nested') [{}][{}]".format(
foo.exists("motley.nested"), True))
assert (foo.exists("motley.nested"))
print("foo.exists('motley.not_here') [{}][{}]".format(
foo.exists("motley.not_here"), False))
assert (not foo.exists("motley.not_here"))
namespaced_name = "{}/motley.nested".format(namespace)
print("Blackboard.exists({}) [{}][{}]".format(
namespaced_name, Blackboard.exists(namespaced_name), True))
assert (Blackboard.exists(namespaced_name))
def test_key_exists():
console.banner("Key Exists")
for create in [create_blackboards, create_namespaced_blackboards]:
with create() as (foo, unused_bar, namespace):
print("foo.exists('dude') [{}][{}]".format(foo.exists("dude"), True))
assert(foo.exists("dude"))
if namespace:
print("Blackboard.exists('{}/dude') [{}][{}]".format(
namespace,
Blackboard.exists(name="{}/dude".format(namespace)),
True)
)
assert(Blackboard.exists(name="{}/dude".format(namespace)))
with nose.tools.assert_raises_regexp(AttributeError, "does not have read/write access"):
print("Expecting Attribute Error with substring 'does not have read/write access'")
print("foo.exists('dude_not_here') [{}][{}]".format(foo.exists("dude_not_here"), False))
assert(not foo.exists("dude_not_here"))
def test_remappings():
console.banner("Remappings")
blackboard = py_trees.blackboard.Client(name="Blackboard")
blackboard.register_key(key="dude", access=py_trees.common.Access.WRITE)
blackboard.register_key(key="/dudette", access=py_trees.common.Access.WRITE)
blackboard.register_key(
key="/foo/bar/wow",
access=py_trees.common.Access.WRITE,
remap_to="/parameters/anticipation"
)
print("setters & getters...")
blackboard.set("/foo/bar/wow", "set")
assert(Blackboard.storage["/parameters/anticipation"] == "set")
blackboard.foo.bar.wow = "pythonic"
print(" blackboard.foo.bar.wow == 'pythonic'")
assert(blackboard.foo.bar.wow == "pythonic")
print(" blackboard.get('/foo/bar/wow') == 'pythonic'")
assert(blackboard.get("/foo/bar/wow") == "pythonic")
print(" Blackboard.storage['/parameters/anticipation'] == 'pythonic'")
assert(Blackboard.storage["/parameters/anticipation"] == "pythonic")
print("exists....")
print(" blackboard.exists('/foo/bar/wow')")
assert(blackboard.exists('/foo/bar/wow'))
print(" Blackboard.exists('/parameters/anticipation')")
assert(Blackboard.exists("/parameters/anticipation"))
print("unset...")
blackboard.unset("/foo/bar/wow")
print(" not blackboard.exists('/foo/bar/wow')")
assert(not blackboard.exists('/foo/bar/wow'))
print(" not Blackboard.exists('/parameters/anticipation')")
assert(not Blackboard.exists("/parameters/anticipation"))
print("unregister_key...")
blackboard.foo.bar.wow = "pythonic"
blackboard.unregister_key("/foo/bar/wow", clear=True)
print(" not Blackboard.exists('/parameters/anticipation')")
assert(not Blackboard.exists("/parameters/anticipation"))
print(py_trees.display.unicode_blackboard())
print(blackboard)
blackboard.unregister(clear=True)
def test_namespaced_dot_access():
console.banner("Namespaced Dot Access")
blackboard = py_trees.blackboard.Client(name="Blackboard")
blackboard.register_key(key="dude", access=py_trees.common.Access.WRITE)
blackboard.register_key(key="/dudette", access=py_trees.common.Access.WRITE)
blackboard.register_key(key="/foo/bar/wow", access=py_trees.common.Access.WRITE)
print("Trying....'blackboard.dude = True'")
blackboard.dude = True
assert(blackboard.dude)
print("Trying....'blackboard.dude = True'")
blackboard.dudette = True
assert(blackboard.dudette)
print("Trying....'blackboard.foo.bar.wow = True'")
blackboard.foo.bar.wow = True
assert(Blackboard.exists("/foo/bar/wow"))
assert(blackboard.foo.bar.wow)
blackboard.unregister()
