def test_sequence(self):
p = ParallelAnyTask()
with p:
ParallelAnyTask.add(TrueTask())
ParallelAnyTask.add(FalseTask())
s = SequenceTask()
with s:
SequenceTask.add(p)
SequenceTask.add(FalseTask())
p2 = ParallelAnyTask()
with p2:
ParallelAllTask.add(s)
ParallelAllTask.add(SleepTask(1.0, succeed=False))
s2 = SelectorTask()
with s2:
SelectorTask.add(p2)
SelectorTask.add(SleepTask(1.0))
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(s2)
sis = smach_ros.IntrospectionServer('server_name', bt, '/SM_ROOT')
sis.start()
wait_start = rospy.Time.now()
while (rospy.Time.now() -
wait_start).to_sec() < 10 and not rospy.is_shutdown():
rospy.sleep(0.1)
rospy.loginfo("Executing...")
outcome = bt.execute()
def test_preempt(self):
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(SleepTask(1000))
thread = threading.Thread(name='test_preempt',
target=self._preempt_thread,
args=(bt, ))
thread.start()
self.assertEqual(bt.execute(), 'preempted')
def test_run_false(self):
seq = SequenceTask()
with seq:
SequenceTask.add(SleepTask(0.1))
SequenceTask.add(FalseTask())
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(seq)
self.assertEqual(bt.execute(), 'aborted')
def test_run_true(self):
seq = SequenceTask()
with seq:
SequenceTask.add(SleepTask(0.1))
SequenceTask.add(TrueTask())
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(seq)
self.assertEqual(bt.execute(), 'succeeded')
def test_remap(self):
bt = smach_bt.BehaviorTreeContainer()
seq = smach_bt.SequenceTask(output_keys=['test_key'])
with seq:
smach_bt.SequenceTask.add(SetUserDataTask(key="data",
value="test"),
remapping={'data': 'test_key'})
bt.set_root(seq)
self.assertEqual(bt.execute(), 'succeeded')
self.assertEqual(bt.userdata["test_key"], "test")
def test_set(self):
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(SetUserDataTask(key="data", value="test"))
self.assertEqual(bt.execute(), 'succeeded')
self.assertEqual(bt.userdata["data"], "test")
def test_false(self):
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(FalseTask())
self.assertEqual(bt.execute(), 'aborted')
def test_true(self):
bt = smach_bt.BehaviorTreeContainer()
bt.set_root(TrueTask())
self.assertEqual(bt.execute(), 'succeeded')
def test_empty(self):
bt = smach_bt.BehaviorTreeContainer()
self.assertRaises(smach.InvalidTransitionError, bt.execute)