def test_conditional_long(self):
state = dict(target=[], condition=True)
tree = behaviours.conditional("condition",
condition=behaviours.evalb("check", lambda state: state['condition']),
true=behaviours.repeat(behaviours.do("success", lambda state: state['target'].append(True))),
false=behaviours.repeat(behaviours.do("fail", lambda state: state['target'].append(False))),
)
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True])
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True])
state['condition'] = False
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True, False])
state['condition'] = True
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True, False, True])
def test_conditional_long(self):
state = dict(target=[], condition=True)
tree = behaviours.conditional(
"condition",
condition=behaviours.evalb("check",
lambda state: state['condition']),
true=behaviours.repeat(
behaviours.do("success",
lambda state: state['target'].append(True))),
false=behaviours.repeat(
behaviours.do("fail",
lambda state: state['target'].append(False))),
)
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True])
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True])
state['condition'] = False
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True, False])
state['condition'] = True
running, success = tree.tick(state)
self.assertEqual(running, True)
self.assertEqual(state['target'], [True, True, False, True])
def test_conditional(self):
tree = behaviours.conditional("condition",
condition=behaviours.evalb("check", lambda state: True),
true=behaviours.do("exito", lambda state: state.append(True)),
false=behaviours.do("fail", lambda state: state.append(False)),
)
target = []
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [True])
def test_conditional(self):
tree = behaviours.conditional(
"condition",
condition=behaviours.evalb("check", lambda state: True),
true=behaviours.do("exito", lambda state: state.append(True)),
false=behaviours.do("fail", lambda state: state.append(False)),
)
target = []
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [True])
def test_sequence(self):
target = []
tree = behaviours.sequence("append two",
behaviours.do("call it1", lambda state: state.append(1)),
behaviours.wait(1),
behaviours.do("call it2", lambda state: state.append(2)),
)
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [1])
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [1, 2])
def test_do(self):
target = []
tree = behaviours.do("call_it", lambda state: state.append(True))
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [True])
def test_do(self):
target = []
tree = behaviours.do("call_it", lambda state: state.append(True))
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [True])
def test_sequence(self):
target = []
tree = behaviours.sequence(
"append two",
behaviours.do("call it1", lambda state: state.append(1)),
behaviours.wait(1),
behaviours.do("call it2", lambda state: state.append(2)),
)
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [1])
running, success = tree.tick(target)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(target, [1, 2])
def test_repeat(self):
target = []
tree = behaviours.repeat(behaviours.do("success", lambda state: state.append(True)))
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [True])
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [True, True])
def test_sequence_fail(self):
target = []
tree = behaviours.sequence("append two",
behaviours.evalb("fail", lambda s: False),
behaviours.do("call it", lambda s: target.append(2)),
)
running, success = tree.tick()
self.assertEqual(running, False)
self.assertEqual(success, False)
def test_repeat(self):
target = []
tree = behaviours.repeat(
behaviours.do("success", lambda state: state.append(True)))
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [True])
running, success = tree.tick(target)
self.assertEqual(running, True)
self.assertEqual(target, [True, True])
def test_sequence_fail(self):
target = []
tree = behaviours.sequence(
"append two",
behaviours.evalb("fail", lambda s: False),
behaviours.do("call it", lambda s: target.append(2)),
)
running, success = tree.tick()
self.assertEqual(running, False)
self.assertEqual(success, False)
def test_parallel_until(self):
s = dict(stop=False, count=0)
tree = behaviours.untilb("repeat until",
behaviours.evalb("check", lambda state: state['stop']),
behaviours.notb(behaviours.do("incr", lambda state: state.__setitem__("count", state["count"] + 1))),
)
running, success = tree.tick(s)
self.assertEqual(running, True)
self.assertEqual(s['count'], 1)
running, success = tree.tick(s)
self.assertEqual(running, True)
self.assertEqual(s['count'], 2)
s['stop'] = True
running, success = tree.tick(s)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(s['count'], 3)
def test_parallel_while(self):
s = dict(stop=False, count=0)
tree = behaviours.whileb(
"repeat while",
behaviours.evalb("check", lambda state: not state['stop']),
behaviours.do(
"count",
lambda state: state.__setitem__("count", state["count"] + 1)))
running, success = tree.tick(s)
self.assertEqual(running, True)
self.assertEqual(s['count'], 1)
running, success = tree.tick(s)
self.assertEqual(running, True)
self.assertEqual(s['count'], 2)
s['stop'] = True
running, success = tree.tick(s)
self.assertEqual(running, False)
self.assertEqual(success, True)
self.assertEqual(s['count'], 3)
def test_do_fail(self):
tree = behaviours.do("call_it", lambda state: 1/0)
running, success = tree.tick()
self.assertEqual(running, False)
self.assertEqual(success, False)
def test_do_fail(self):
tree = behaviours.do("call_it", lambda state: 1 / 0)
running, success = tree.tick()
self.assertEqual(running, False)
self.assertEqual(success, False)