def testRepeatUntilSucceed_Count(self):
"""Does repeatUntilSucceed execute its child with every tick?
"""
# How many times to repeat the behavior?
ticks = 100
bb = blackboard.Blackboard('test', count=0)
@owyl.task
def increment(**kwargs):
bb, key = kwargs['blackboard'], kwargs['key']
bb[key] += 1
yield False
tree = owyl.repeatUntilSucceed(increment(key='count'))
v = owyl.visit(tree, blackboard=bb)
for i in xrange(ticks):
v.next()
self.assertEqual(bb['count'], ticks)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', count=0)
v = owyl.visit(tree, blackboard=bb)
for i in xrange(ticks):
v.next()
self.assertEqual(bb['count'], ticks)
def create_main_tree(self):
'''
creates the main tree for owyl behavior tree
Args:
self
The tree looks like this:
root
|
owyl.repeatAlways
|
owyl.sequence
|
---------------------------------------------------------------------------------------------------------------------------------------------------------
| | | | |
owyl.selector owyl.repeatUntilSucceed self.isCameraTrackDone() owyl.repeatUntilSucceed self.isWalkForward()
| | |
------------------------------------------------------------------------- self.cameraTrack() self.isBodyTrack()
| | | | |
self.checkIfBall() self.search85() self.search60() self.search35() self.turnBody()
Returns:
Creates a tree and returns
owyl.visit method to visit next nodes in the tree.
'''
# tree=owyl.repeatAlways(self.cameraTrack()) # For testing only the camera tracker ... see method cameraTrack() for details
tree = owyl.repeatAlways(
owyl.sequence(
owyl.selector(
self.checkIfBall(),
owyl.selector(self.search85(), self.search60(),
self.search35(), self.turnBody())),
owyl.repeatUntilSucceed(self.cameraTrack()),
self.isCameraTrackDone(),
owyl.repeatUntilSucceed(self.isBodyTrack()),
self.isWalkForward()))
return owyl.visit(tree, blackboard=self.blackboard)
def create_main_tree(self):
'''
creates the main tree for owyl behavior tree
Args:
self
The tree looks like this:
root
|
owyl.repeatAlways
|
owyl.sequence
|
---------------------------------------------------------------------------------------------------------------------------------------------------------
| | | | |
owyl.selector owyl.repeatUntilSucceed self.isCameraTrackDone() owyl.repeatUntilSucceed self.isWalkForward()
| | |
------------------------------------------------------------------------- self.cameraTrack() self.isBodyTrack()
| | | | |
self.checkIfBall() self.search85() self.search60() self.search35() self.turnBody()
60() 35() 10()
Returns:
Creates a tree and returns
owyl.visit method to visit next nodes in the tree.
'''
# tree=owyl.repeatAlways(self.cameraTrack()) # For testing only the camera tracker ... see method cameraTrack() for details
tree=owyl.repeatAlways(
owyl.sequence(
owyl.selector(self.checkIfBall(),owyl.selector(self.search85(),self.search60(),self.search35(),self.turnBody()))
,owyl.repeatUntilSucceed(self.cameraTrack())
,self.isCameraTrackDone()
,owyl.repeatUntilSucceed(self.isBodyTrack())
,self.isWalkForward()
)
)
return owyl.visit(tree,blackboard=self.blackboard)
def testStructureBig(self):
tree = owyl.parallel(owyl.sequence(owyl.repeatAlways(blackboard.setBB()), owyl.log()),
owyl.selector(owyl.repeatUntilSucceed(blackboard.checkBB())),
owyl.repeatUntilFail(owyl.fail()))
viztree = OwylTree(tree)
structure = truncate(viztree.get_structure(), ['name', 'children'])
self.assertEquals(structure,
{'name': 'parallel',
'children': [{'name': 'sequence',
'children': [{'name': 'repeatAlways',
'children': [{'name': 'setBB',
'children': []}]},
{'name': 'log',
'children': []}]},
{'name': 'selector',
'children': [{'name': 'repeatUntilSucceed',
'children': [{'name': 'checkBB',
'children': []}]}]},
{'name': 'repeatUntilFail',
'children': [{'name': 'fail',
'children': []}]}]})
