def test_initialization(self):
node = b3.MemPriority()
self.assertIsNotNone(node.id)
self.assertEqual(node.name, 'MemPriority')
self.assertEqual(node.title, 'MemPriority')
self.assertIsNotNone(node.description)
def test_memory_continue(self):
node1 = get_node(b3.FAILURE)
node2 = get_node(b3.FAILURE)
node3 = get_node(b3.FAILURE)
node4 = get_node(b3.SUCCESS)
node5 = get_node(b3.FAILURE)
mempriority = b3.MemPriority(
children=[node1, node2, node3, node4, node5])
mempriority.id = 'node1'
tick = TickStub()
tick.blackboard.get.return_value = 2
status = mempriority._execute(tick)
expected = [
mock.call('is_open', False, 'tree1', 'node1'),
]
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)
self.assertEqual(node1._execute.call_count, 0)
self.assertEqual(node2._execute.call_count, 0)
self.assertEqual(node3._execute.call_count, 1)
self.assertEqual(node4._execute.call_count, 1)
self.assertEqual(node5._execute.call_count, 0)
def test_failure(self):
node1 = get_node(b3.FAILURE)
node2 = get_node(b3.FAILURE)
node3 = get_node(b3.FAILURE)
mempriority = b3.MemPriority(children=[node1, node2, node3])
tick = TickStub()
tick.blackboard.get.return_value = 0
status = mempriority.tick(tick)
self.assertEqual(status, b3.FAILURE)
self.assertEqual(node1._execute.call_count, 1)
self.assertEqual(node2._execute.call_count, 1)
self.assertEqual(node3._execute.call_count, 1)
def test_error(self):
node1 = get_node(b3.FAILURE)
node2 = get_node(b3.FAILURE)
node3 = get_node(b3.ERROR)
node4 = get_node(b3.SUCCESS)
mempriority = b3.MemPriority(children=[node1, node2, node3, node4])
tick = TickStub()
tick.blackboard.get.return_value = 0
status = mempriority.tick(tick)
self.assertEqual(status, b3.ERROR)
self.assertEqual(node1._execute.call_count, 1)
self.assertEqual(node2._execute.call_count, 1)
self.assertEqual(node3._execute.call_count, 1)
self.assertEqual(node4._execute.call_count, 0)
def test_memory(self):
node1 = get_node(b3.FAILURE)
node2 = get_node(b3.FAILURE)
node3 = get_node(b3.RUNNING)
node4 = get_node(b3.SUCCESS)
node5 = get_node(b3.FAILURE)
mempriority = b3.MemPriority(children=[node1, node2, node3, node4, node5])
mempriority.id = 'node1';
tick = TickStub()
tick.blackboard.get.return_value = 0
status = mempriority._execute(tick)
expected = [
mock.call('is_open', True, 'tree1', 'node1'),
mock.call('running_child', 0, 'tree1', 'node1'),
mock.call('running_child', 2, 'tree1', 'node1')
]
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)