def generic_cancel_test(
title,
server,
client
):
console.banner(title)
executor = rclpy.executors.MultiThreadedExecutor(num_threads=4)
executor.add_node(server.node)
executor.add_node(client.node)
# Send goal and await future
client.setup()
goal_future = client.send_goal()
start_time = time.monotonic()
while (time.monotonic() - start_time) < timeout():
executor.spin_once(timeout_sec=0.1)
if goal_future.result() is not None:
break
assert_banner()
assert_details("goal_future.result()", "!None", goal_future.result())
assert(goal_future.result() is not None)
print("goal_future.result().accepted.....True [{}]".format(
goal_future.result().accepted)
)
assert(goal_future.result().accepted)
goal_handle = goal_future.result()
# cancel
_timer = client.node.create_timer(0.05, client.send_cancel_request)
# Await preempted goal result future
# Note: it's going to spam cancel requests, but that's ok
# even desirable to make sure it doesn't flake out
result_future = goal_handle.get_result_async()
start_time = time.monotonic()
while (time.monotonic() - start_time) < timeout():
executor.spin_once(timeout_sec=0.1)
if result_future.done():
_timer.cancel()
client.node.destroy_timer(_timer)
break
assert_banner()
assert_details("result_future.done()", "True", result_future.done())
assert(result_future.done())
assert_details(
"result_future.result().status",
"STATUS_CANCELED",
client.status_strings[result_future.result().status]
)
assert(result_future.result().status ==
action_msgs.GoalStatus.STATUS_CANCELED) # noqa
executor.shutdown()
server.shutdown()
client.shutdown()
def test_imposter_has_add_child_method():
console.banner("Test Imposter has add_child_method")
tuples = []
tuples.append((create_impostered_behaviour(), False))
tuples.append((create_impostered_composite(), True))
for b, asserted_result in tuples:
print("%s has add_child: %s [%s]" %
(b.name, hasattr(b, 'add_child'), asserted_result))
assert (hasattr(b, 'add_child') == asserted_result)
def test_remove_nonexistant_child():
console.banner("Remove non-existant child")
root = py_trees.composites.Sequence(name="Sequence")
child = py_trees.behaviours.Success(name="Success")
root.add_child(child)
non_existant_child = py_trees.behaviours.Success(name="Ooops")
with nose.tools.assert_raises(IndexError):
print("Expecting an Index Error")
root.remove_child_by_id(non_existant_child.id)
def test_symbols():
console.banner("Symbols")
# This test has no assertions, except from the human eye. When it fails,
# ticks and crosses fail and must be inspected by the human eye
print("[{0}][{1}][{2}][{3}]".format(
display._behaviour_status_to_ascii[py_trees.common.Status.SUCCESS],
display._behaviour_status_to_ascii[py_trees.common.Status.FAILURE],
display._behaviour_status_to_ascii[py_trees.common.Status.INVALID],
display._behaviour_status_to_ascii[py_trees.common.Status.RUNNING]))
def test_lists():
console.banner("Lists")
for create in [create_blackboards, create_namespaced_blackboards]:
with create() as (foo, bar, unused_namespace):
foo.dude = ["Bob", "Bill"]
name = bar.dude[0]
print("Read first element of the list: {} [{}]".format(
name, "Bob"))
assert (name == "Bob")
def test_tree_setup():
console.banner("Tree Setup")
duration = 0.05
first = SleepInSetup(name="First", duration=duration)
second = SleepInSetup(name="Second", duration=duration)
third = SleepInSetup(name="Third", duration=duration)
root = py_trees.composites.Sequence()
root.add_children([first, second, third])
tree = py_trees.trees.BehaviourTree(root=root)
print("\n--------- Assertions ---------\n")
print(console.cyan + "Short Timeout: " + console.yellow + "No Visitor" + console.reset)
with nose.tools.assert_raises(RuntimeError) as context:
tree.setup(timeout=2 * duration)
print("RuntimeError has message with substring 'timed out'")
assert("timed out" in str(context.exception))
active_threads = threading.active_count()
assert(active_threads == 1, "Only one thread should be active but there are {} active".format(active_threads))
print("\n--------- Assertions ---------\n")
print(console.cyan + "Short timeout: " + console.yellow + "No Visitor" + console.reset)
try:
tree.setup(timeout=4 * duration)
except RuntimeError:
assert False, "should not have timed out"
active_threads = threading.active_count()
assert(active_threads == 1, "Only one thread should be active but there are {} active".format(active_threads))
print("\n--------- Assertions ---------\n")
print(console.cyan + "Long Timeout: " + console.yellow + "With Visitor" + console.reset)
visitor = SetupVisitor()
with nose.tools.assert_raises(RuntimeError) as context:
tree.setup(timeout=2 * duration, visitor=visitor)
print("RuntimeError has message with substring 'timed out'")
assert("timed out" in str(context.exception))
active_threads = threading.active_count()
assert(active_threads == 1, "Only one thread should be active but there are {} active".format(active_threads))
print("\n--------- Assertions ---------\n")
print(console.cyan + "Long timeout: " + console.yellow + "With Visitor" + console.reset)
visitor = SetupVisitor()
try:
tree.setup(timeout=4 * duration, visitor=visitor)
except RuntimeError:
assert False, "should not have timed out"
active_threads = threading.active_count()
assert(active_threads == 1, "Only one thread should be active but there are {} active".format(active_threads))
print("\n--------- Assertions ---------\n")
print(console.cyan + "No timeout: " + console.yellow + "No Visitor" + console.reset)
visitor = SetupVisitor()
try:
tree.setup()
except RuntimeError:
assert False, "should not have timed out"
active_threads = threading.active_count()
assert(active_threads == 1, "Only one thread should be active but there are {} active".format(active_threads))
def test_high_priority_interrupt():
console.banner("High Priority Interrupt")
task_one = py_trees.behaviours.Count(name="Task 1",
fail_until=0,
running_until=2,
success_until=10)
task_two = py_trees.behaviours.Count(name="Task 2",
fail_until=0,
running_until=2,
success_until=10)
high_priority_interrupt = py_trees.decorators.RunningIsFailure(
name="High Priority",
child=py_trees.behaviours.Periodic(name="Periodic", n=3))
piwylo = py_trees.idioms.pick_up_where_you_left_off(
name="Pick Up\nWhere You\nLeft Off", tasks=[task_one, task_two])
root = py_trees.composites.Selector(name="Root")
root.add_children([high_priority_interrupt, piwylo])
py_trees.display.print_ascii_tree(root)
visitor = py_trees.visitors.DebugVisitor()
py_trees.tests.tick_tree(root, 1, 3, visitors=[visitor])
print()
print("\n--------- Assertions ---------\n")
print("high_priority_interrupt.status == py_trees.common.Status.FAILURE")
assert (high_priority_interrupt.status == py_trees.common.Status.FAILURE)
print("piwylo.status == py_trees.common.Status.RUNNING")
assert (piwylo.status == py_trees.common.Status.RUNNING)
print("task_one.status == py_trees.common.Status.SUCCESS")
assert (task_one.status == py_trees.common.Status.SUCCESS)
print("task_two.status == py_trees.common.Status.RUNNING")
assert (task_two.status == py_trees.common.Status.RUNNING)
py_trees.tests.tick_tree(root, 4, 5, visitors=[visitor])
print("\n--------- Assertions ---------\n")
print("high_priority_interrupt.status == py_trees.common.Status.SUCCESS")
assert (high_priority_interrupt.status == py_trees.common.Status.SUCCESS)
print("piwylo.status == py_trees.common.Status.INVALID")
assert (piwylo.status == py_trees.common.Status.INVALID)
print("task_one.status == py_trees.common.Status.INVALID")
assert (task_one.status == py_trees.common.Status.INVALID)
print("task_two.status == py_trees.common.Status.INVALID")
assert (task_two.status == py_trees.common.Status.INVALID)
py_trees.tests.tick_tree(root, 6, 8, visitors=[visitor])
print("\n--------- Assertions ---------\n")
print("high_priority_interrupt.status == py_trees.common.Status.FAILURE")
assert (high_priority_interrupt.status == py_trees.common.Status.FAILURE)
print("piwylo.status == py_trees.common.Status.RUNNING")
assert (piwylo.status == py_trees.common.Status.RUNNING)
print("task_one.status == py_trees.common.Status.INVALID")
assert (task_one.status == py_trees.common.Status.INVALID)
print("task_two.status == py_trees.common.Status.RUNNING")
assert (task_two.status == py_trees.common.Status.RUNNING)
def test_parallel_success_on_selected():
console.banner("Parallel Success on Selected")
print("")
running1 = py_trees.behaviours.Running(name="Running1")
success1 = py_trees.behaviours.Count(name="Success1",
fail_until=0,
running_until=1,
success_until=10)
success2 = py_trees.behaviours.Count(name="Success2",
fail_until=0,
running_until=2,
success_until=10)
running2 = py_trees.behaviours.Running(name="Running2")
root = py_trees.composites.Parallel(
name="Parallel",
policy=py_trees.common.ParallelPolicy.SuccessOnSelected(
children=[success1, success2]))
root.add_children([running1, success1, success2, running2])
print(py_trees.display.unicode_tree(root))
visitor = py_trees.visitors.DebugVisitor()
py_trees.tests.tick_tree(root,
1,
1,
visitors=[visitor],
print_snapshot=True)
print("\n--------- Assertions ---------\n")
print("root.status == py_trees.common.Status.RUNNING")
assert (root.status == py_trees.common.Status.RUNNING)
print("running1.status == py_trees.common.Status.RUNNING")
assert (running1.status == py_trees.common.Status.RUNNING)
print("success1.status == py_trees.common.Status.RUNNING")
assert (success1.status == py_trees.common.Status.RUNNING)
print("success2.status == py_trees.common.Status.RUNNING")
assert (success2.status == py_trees.common.Status.RUNNING)
print("running2.status == py_trees.common.Status.RUNNING")
assert (running2.status == py_trees.common.Status.RUNNING)
py_trees.tests.tick_tree(root,
2,
3,
visitors=[visitor],
print_snapshot=True)
print("\n--------- Assertions ---------\n")
print("root.status == py_trees.common.Status.SUCCESS")
assert (root.status == py_trees.common.Status.SUCCESS)
print("running1.status == py_trees.common.Status.INVALID")
assert (running1.status == py_trees.common.Status.INVALID)
print("success1.status == py_trees.common.Status.SUCCESS")
assert (success1.status == py_trees.common.Status.SUCCESS)
print("success2.status == py_trees.common.Status.SUCCESS")
assert (success2.status == py_trees.common.Status.SUCCESS)
print("running2.status == py_trees.common.Status.INVALID")
assert (running2.status == py_trees.common.Status.INVALID)
def test_protect_against_multiple_parents():
console.banner("Protect Against Multiple Parents")
child = py_trees.behaviours.Success()
first_parent = py_trees.composites.Selector()
second_parent = py_trees.composites.Sequence()
with nose.tools.assert_raises(RuntimeError):
print("Adding a child to two parents")
print("Expecting a RuntimeError")
for parent in [first_parent, second_parent]:
parent.add_child(child)
def test_set_name():
console.banner("Set Name")
child = py_trees.behaviours.Success(name="Woohoo")
named_decorator = DummyDecorator(name="Foo", child=child)
no_named_decorator = DummyDecorator(child=child)
print("\n--------- Assertions ---------\n")
print("named_decorator.name == Foo")
assert (named_decorator.name == "Foo")
print("no_named_decorator.name == DummyDecorator\\n[Woohoo]")
assert (no_named_decorator.name == "DummyDecorator\n[Woohoo]")
def test_composite_errors():
console.banner("Timer Errors")
root = py_trees.composites.Selector()
print(
"add_child raises a 'TypeError' due to not being an instance of Behaviour"
)
with nose.tools.assert_raises(TypeError) as context:
root.add_child(5.0)
print("TypeError has message with substring 'behaviours'")
assert ("behaviours" in str(context.exception))
def test_tip_simple():
console.banner("Tip Simple")
# behaviours will be running the first time they are seen, then success for subsequent ticks
seq = py_trees.composites.Sequence(name="Sequence")
a = py_trees.behaviours.Count(name="A", fail_until=0, running_until=1, success_until=100)
b = py_trees.behaviours.Count(name="B", fail_until=0, running_until=1, success_until=100)
seq.add_child(a)
seq.add_child(b)
tree = py_trees.trees.BehaviourTree(seq)
py_trees.display.print_ascii_tree(tree.root)
visitor = py_trees.visitors.DebugVisitor()
tree.visitors.append(visitor)
print("\n--------- Assertions (before initialisation) ---------\n")
# an uninitialised tree/behaviour always has a tip of None
assert(tree.root.tip() is None)
assert(seq.tip() is None)
assert(a.tip() is None)
assert(b.tip() is None)
tree.tick()
print("\n--------- Assertions ---------\n")
assert(a.status == py_trees.common.Status.RUNNING)
assert(b.status == py_trees.common.Status.INVALID)
# the root of sequence and tree should be the currently running node
assert(tree.root.tip() == a)
assert(seq.tip() == a)
# when a node is running/has run, its tip is itself
assert(a.tip() == a)
assert(b.tip() is None)
tree.tick()
print("\n--------- Assertions ---------\n")
assert(a.status == py_trees.common.Status.SUCCESS)
assert(b.status == py_trees.common.Status.RUNNING)
# the root of sequence and tree should be the currently running node
assert(tree.root.tip() == b)
assert(seq.tip() == b)
# when a node is running/has run, its tip is itself
assert(a.tip() == a)
assert(b.tip() == b)
tree.tick()
print("\n--------- Assertions ---------\n")
assert(a.status == py_trees.common.Status.SUCCESS)
assert(b.status == py_trees.common.Status.SUCCESS)
# the root of sequence and tree should be the currently running node
assert(tree.root.tip() == b)
assert(seq.tip() == b)
# when a node is running/has run, its tip is itself
assert(a.tip() == a)
assert(b.tip() == b)
def test_invalid_setup():
console.banner("Invalid Setup")
parent = py_trees.composites.Sequence(name="Parent")
child = InvalidSetup(name="Invalid Setup")
parent.add_child(child)
print("\n--------- Assertions ---------\n")
print("TypeError is raised")
with assert_raises(TypeError) as context:
parent.setup(timeout=15)
print("TypeError has message with substring 'NoneType'")
assert ("NoneType" in str(context.exception))
def test_tick_add_with_current_child():
console.banner('Tick-Add with Current Child')
assert_banner()
root = py_trees.composites.Parallel(
name="Parallel",
policy=py_trees.common.ParallelPolicy.SuccessOnAll(synchronise=False))
root.tick_once()
child = py_trees.behaviours.Failure(name="Failure")
root.add_child(child)
assert_details("Current Child", None, root.current_child)
assert (root.current_child is None)
def test_tick_add_with_current_child():
console.banner('Tick-Add with Current Child')
assert_banner()
root = py_trees.composites.Selector(name="Selector")
root.tick_once()
child = py_trees.behaviours.Failure(name="Failure")
print(py_trees.display.unicode_tree(root, show_status=True))
root.add_child(child)
print(py_trees.display.unicode_tree(root, show_status=True))
assert_details("Current Child", None, root.current_child)
assert (root.current_child is None)
def test_replacing_children():
console.banner("Replacing Children")
parent = py_trees.composites.Sequence(name="Parent")
old_child = py_trees.behaviours.Success(name="Old Child")
new_child = py_trees.behaviours.Success(name="New Child")
parent.add_child(old_child)
parent.replace_child(old_child, new_child)
print("\n--------- Assertions ---------\n")
print("old_child.parent is None")
assert (old_child.parent is None)
print("new_child.parent is parent")
assert (new_child.parent is parent)
def test_blackboard_static_names():
console.banner("Test Absolute Names with Static Methods")
print("Set 'foo'")
Blackboard.set("foo", "foo")
print("Get 'foo' [{}]".format(Blackboard.get("foo")))
assert (Blackboard.get("foo") == "foo")
assert (Blackboard.get("/foo") == "foo")
print("Set '/bar'")
Blackboard.set("/bar", "bar")
print("Get 'bar' [{}]".format(Blackboard.get("bar")))
assert (Blackboard.get("bar") == "bar")
assert (Blackboard.get("/bar") == "bar")
def test_parallel_no_synchronisation():
console.banner('Parallel No Synchronisation')
root = py_trees.composites.Parallel(
name="Parallel",
policy=py_trees.common.ParallelPolicy.SuccessOnAll(
synchronise=False
))
success_every_two = py_trees.decorators.FailureIsRunning(
name="SuccessEverySecond",
child=py_trees.behaviours.SuccessEveryN(name="Flipper2", n=2)
)
success_every_three = py_trees.decorators.FailureIsRunning(
name="SuccessEveryThird",
child=py_trees.behaviours.SuccessEveryN(name="Flipper3", n=3)
)
debug_visitor = py_trees.visitors.DebugVisitor()
snapshot_visitor = py_trees.visitors.SnapshotVisitor()
root.add_children([success_every_two, success_every_three])
for counter in range(1, 6):
snapshot_visitor.initialise()
py_trees.tests.tick_tree(
root, counter, counter,
visitors=[debug_visitor, snapshot_visitor],
print_snapshot=True
)
print(counter)
if counter % 2 == 0:
print("success_every_two.status == py_trees.common.Status.SUCCESS")
assert(success_every_two.status == py_trees.common.Status.SUCCESS)
elif counter % 3 == 0:
print("success_every_three.status == py_trees.common.Status.SUCCESS")
assert(success_every_three.status == py_trees.common.Status.SUCCESS)
else:
print("success_every_two.status == py_trees.common.Status.RUNNING")
assert(success_every_two.status == py_trees.common.Status.RUNNING)
print("success_every_three.status == py_trees.common.Status.RUNNING")
assert(success_every_three.status == py_trees.common.Status.RUNNING)
print("root.status == py_trees.common.Status.RUNNING")
assert(root.status == py_trees.common.Status.RUNNING, "{}, {}".format(root.status, counter))
snapshot_visitor.initialise()
py_trees.tests.tick_tree(
root, 6, 6,
print_snapshot=True
)
print("success_every_two.status == py_trees.common.Status.SUCCESS")
assert(success_every_two.status == py_trees.common.Status.SUCCESS)
print("success_every_three.status == py_trees.common.Status.SUCCESS")
assert(success_every_three.status == py_trees.common.Status.SUCCESS)
print("root.status == py_trees.common.Status.SUCCESS")
assert(root.status == py_trees.common.Status.SUCCESS)
def benchmark_read():
console.banner("Read Benchmarks (x1000)")
def _impl(with_remaps=False):
with create_blackboards() as (root, parameters):
width = max(len(root.name), len(parameters.name))
for blackboard in (root, parameters):
for i in range(0, 1000):
if with_remaps:
remaps = {i: "/state/{}/colander_{}".format(blackboard.name.lower(), i) for i in range(0, 1000)}
suffix = " with Remaps"
blackboard.register_key(
key="colander_{}".format(i),
access=py_trees.common.Access.READ,
remap_to=remaps[i]
)
else:
suffix = ""
blackboard.register_key(
key="colander_{}".format(i),
access=py_trees.common.Access.READ,
)
for i in range(0, 1000):
if with_remaps:
for blackboard in (root, parameters):
py_trees.blackboard.Blackboard.set("/state/{}/colander_{}".format(blackboard.name.lower(), i), i)
else:
py_trees.blackboard.Blackboard.set("/colander_{}".format(i), i)
py_trees.blackboard.Blackboard.set("/parameters/colander_{}".format(i), i)
relative_names = {}
absolute_names = {"Root": {}, "Namespaced": {}}
for i in range(0, 1000):
relative_names[i] = "colander_{}".format(i)
absolute_names["Root"][i] = "/colander_{}".format(i)
absolute_names["Namespaced"][i] = "/parameters/colander_{}".format(i)
print("Relative Names" + suffix)
for blackboard in (root, parameters):
start_time = time.monotonic()
foo = 0
for i in range(0, 1000):
foo += blackboard.get(relative_names[i])
duration = time.monotonic() - start_time
print(" - " + console.cyan + "{0: <{1}}".format(blackboard.name, width) + console.reset + ": " + console.yellow + "{0:.3f}".format(duration) + console.reset)
print("Absolute Names" + suffix)
for blackboard in (root, parameters):
names = absolute_names[blackboard.name]
start_time = time.monotonic()
foo = 0
for i in range(0, 1000):
foo += blackboard.get(names[i])
duration = time.monotonic() - start_time
print(" - " + console.cyan + "{0: <{1}}".format(blackboard.name, width) + console.reset + ": " + console.yellow + "{0:.3f}".format(duration) + console.reset)
_impl(with_remaps=False)
def test_exchange_setup(self):
console.banner("Test Setup")
print("----- Asserts -----")
try:
exchange = py_trees_ros.blackboard.Exchange()
node = rclpy.create_node('test_exchange', start_parameter_services=False)
exchange.setup(node)
node.destroy_node()
print("no exceptions [True]")
except Exception as e:
print("no exceptions [False]")
self.fail("exchange.setup() raised an exception [{}]".format(str(e)))
def test_parallel_failure():
console.banner("Parallel Failure")
success_on_one = py_trees.common.ParallelPolicy.SuccessOnOne()
success_on_all_synchronised = py_trees.common.ParallelPolicy.SuccessOnAll(
synchronise=True)
success_on_all_not_synchronised = py_trees.common.ParallelPolicy.SuccessOnAll(
synchronise=False)
for policy in [
success_on_one, success_on_all_synchronised,
success_on_all_not_synchronised
]:
root = py_trees.composites.Parallel("Parallel", policy=policy)
failure = py_trees.behaviours.Failure("Failure")
success = py_trees.behaviours.Success("Success")
root.add_child(failure)
root.add_child(success)
print(py_trees.display.unicode_tree(root))
visitor = py_trees.visitors.DebugVisitor()
py_trees.tests.tick_tree(root, 1, 1, visitors=[visitor])
print("\n--------- Assertions ---------\n")
print("root.status == py_trees.common.Status.FAILURE")
assert (root.status == py_trees.common.Status.FAILURE)
print("failure.status == py_trees.common.Status.FAILURE")
assert (failure.status == py_trees.common.Status.FAILURE)
print("success.status == py_trees.common.Status.SUCCESS")
assert (success.status == py_trees.common.Status.SUCCESS)
failure = py_trees.behaviours.Failure("Failure")
success = py_trees.behaviours.Success("Success")
for child, synchronise in itertools.product([success, failure],
[True, False]):
policy = py_trees.common.ParallelPolicy.SuccessOnSelected(
children=[child], synchronise=synchronise)
root = py_trees.composites.Parallel("Parallel", policy=policy)
root.add_child(failure)
root.add_child(success)
print(py_trees.display.unicode_tree(root))
visitor = py_trees.visitors.DebugVisitor()
py_trees.tests.tick_tree(root, 1, 1, visitors=[visitor])
print("\n--------- Assertions ---------\n")
print("root.status == py_trees.common.Status.FAILURE")
assert (root.status == py_trees.common.Status.FAILURE)
print("failure.status == py_trees.common.Status.FAILURE")
assert (failure.status == py_trees.common.Status.FAILURE)
print("success.status == py_trees.common.Status.SUCCESS")
assert (success.status == py_trees.common.Status.SUCCESS)
# cleanup so they can be added again
root.remove_child(failure)
root.remove_child(success)
def test_wait_for_blackboard_variable():
console.banner("Wait for Blackboard Variable")
create_blackboard()
tuples = []
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(name="check_foo_exists",
variable_name="foo"),
Status.SUCCESS))
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(name="check_bar_exists",
variable_name="bar"),
Status.RUNNING))
tuples.append((py_trees.blackboard.WaitForBlackboardVariable(
name="check_nested_foo_exists",
variable_name="foobar.foo"), Status.SUCCESS))
tuples.append((py_trees.blackboard.WaitForBlackboardVariable(
name="check_nested_bar_exists",
variable_name="foobar.bar"), Status.RUNNING))
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(
name="check_foo_equals_bar",
variable_name="foo",
expected_value="bar"), Status.SUCCESS))
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(
name="check_foo_equals_foo",
variable_name="foo",
expected_value="foo"), Status.RUNNING))
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(
name="check_bar_equals_bar",
variable_name="bar",
expected_value="bar"), Status.RUNNING))
tuples.append(
(py_trees.blackboard.WaitForBlackboardVariable(
name="check_bar_equals_foo",
variable_name="bar",
expected_value="foo"), Status.RUNNING))
tuples.append((py_trees.blackboard.WaitForBlackboardVariable(
name="check_nested_foo_equals_bar",
variable_name="foobar.foo",
expected_value="bar"), Status.SUCCESS))
tuples.append((py_trees.blackboard.WaitForBlackboardVariable(
name="check_nested_foo_equals_foo",
variable_name="foobar.foo",
expected_value="foo"), Status.RUNNING))
for b, unused in tuples:
b.tick_once()
for b, asserted_result in tuples:
print("%s: %s [%s]" % (b.name, b.status, asserted_result))
assert (b.status == asserted_result)
def test_write(self):
console.banner("Test Write")
with create_and_setup_exchange() as exchange:
exchange.blackboard.dude = "Bob"
exchange.blackboard.dudette = "Sarah"
exchange.blackboard.count = 1
print("----- Asserts -----")
print("exchange.blackboard.dude: {} [{}]".format(exchange.blackboard.dude, "Bob"))
self.assertEqual("Bob", exchange.blackboard.dude)
print("exchange.blackboard.dudette: {} [{}]".format(exchange.blackboard.dudette, "Sarah"))
self.assertEqual("Sarah", exchange.blackboard.dudette)
print("exchange.blackboard.count: {} [{}]".format(exchange.blackboard.count, 1))
self.assertEqual(1, exchange.blackboard.count)
def test_valid_filenames():
console.banner("Valid Filenames")
names = {
"With\nNewlines": "with_newlines",
"With Spaces": "with_spaces",
" Leading Space": "leading_space",
"Trailing Space ": "trailing_space"
}
for name, expected_name in names.items():
print(console.cyan + repr(name) + ": " + console.yellow +
expected_name + " [" + utilities.get_valid_filename(name) + "]" +
console.reset)
assert (utilities.get_valid_filename(name) == expected_name)
def test_activity_stream():
console.banner("Activity Stream")
Blackboard.enable_activity_stream(100)
blackboard = py_trees.blackboard.Client(name="Client")
for key in {'foo', 'dude'}:
blackboard.register_key(key=key, access=py_trees.common.Access.READ)
for key in {"spaghetti", "motley"}:
blackboard.register_key(key=key, access=py_trees.common.Access.WRITE)
try:
unused = blackboard.dude
except KeyError: # NO_KEY
pass
try:
unused = blackboard.dudette
except AttributeError: # ACCESS_DENIED
pass
try:
blackboard.dudette = "Jane"
except AttributeError: # ACCESS_DENIED
pass
blackboard.spaghetti = {"type": "Carbonara", "quantity": 1} # INITIALISED
blackboard.spaghetti = {"type": "Gnocchi", "quantity": 2} # WRITE
blackboard.motley = Motley()
blackboard.motley.nested = "mutt"
unused_result = blackboard.motley.nested
try:
# NO_OVERWRITE
blackboard.set("spaghetti", {
"type": "Bolognese",
"quantity": 3
},
overwrite=False)
except AttributeError:
pass
blackboard.unset("spaghetti") # UNSET
print(py_trees.display.unicode_blackboard_activity_stream())
expected_types = [
py_trees.blackboard.ActivityType.NO_KEY,
py_trees.blackboard.ActivityType.ACCESS_DENIED,
py_trees.blackboard.ActivityType.ACCESS_DENIED,
py_trees.blackboard.ActivityType.INITIALISED,
py_trees.blackboard.ActivityType.WRITE,
py_trees.blackboard.ActivityType.INITIALISED,
py_trees.blackboard.ActivityType.ACCESSED,
py_trees.blackboard.ActivityType.ACCESSED,
py_trees.blackboard.ActivityType.NO_OVERWRITE,
py_trees.blackboard.ActivityType.UNSET,
]
for item, expected in zip(Blackboard.activity_stream.data, expected_types):
assert (item.activity_type == expected.value)
blackboard.unregister(clear=True)
def test_to_blackboard_not_initialised(self):
console.banner("ToBlackboard - Uninitialised")
self.blackboard.clear()
unused_root = py_trees_ros.subscribers.ToBlackboard(
name="ToBlackboard",
topic_name="/battery/state",
topic_type=sensor_msgs.BatteryState,
blackboard_variables={'percentage': 'percentage'},
initialise_variables={},
clearing_policy=py_trees.common.ClearingPolicy.NEVER)
print("----- Asserts -----")
print("blackboard.percentage.............raises AttributeError")
with self.assertRaises(AttributeError):
print(self.blackboard.percentage)
def test_sequence_composite():
console.banner("Sequence")
visitor = py_trees.visitors.DebugVisitor()
tree = py_trees.Sequence(name='Sequence')
a = py_trees.behaviours.Count(name="A",
fail_until=0,
running_until=3,
success_until=6)
b = py_trees.behaviours.Count(name="B",
fail_until=0,
running_until=3,
success_until=6)
c = py_trees.behaviours.Count(name="C",
fail_until=0,
running_until=3,
success_until=6)
tree.add_child(a)
tree.add_child(b)
tree.add_child(c)
py_trees.tests.tick_tree(tree, visitor, 1, 5)
py_trees.tests.print_summary(nodes=[a, b, c])
print("--------- Assertions ---------\n")
print("a.status == py_trees.Status.SUCCESS")
assert (a.status == py_trees.Status.SUCCESS)
print("b.status == py_trees.Status.RUNNING")
assert (b.status == py_trees.Status.RUNNING)
print("tree.status == py_trees.Status.RUNNING")
assert (tree.status == py_trees.Status.RUNNING)
py_trees.tests.tick_tree(tree, visitor, 6, 10)
py_trees.tests.print_summary(nodes=[a, b, c])
print("--------- Assertions ---------\n")
print("a.status == py_trees.Status.SUCCESS")
assert (a.status == py_trees.Status.SUCCESS)
print("b.status == py_trees.Status.SUCCESS")
assert (b.status == py_trees.Status.SUCCESS)
print("b.status == py_trees.Status.SUCCESS")
assert (c.status == py_trees.Status.SUCCESS)
print("tree.status == py_trees.Status.SUCCESS")
assert (tree.status == py_trees.Status.SUCCESS)
py_trees.tests.tick_tree(tree, visitor, 11, 13)
py_trees.tests.print_summary(nodes=[a, b, c])
print("--------- Assertions ---------\n")
print("a.status == py_trees.Status.RUNNING")
assert (a.status == py_trees.Status.RUNNING)
print("b.status == py_trees.Status.INVALID")
assert (b.status == py_trees.Status.INVALID)
print("c.status == py_trees.Status.INVALID")
assert (c.status == py_trees.Status.INVALID)
print("tree.status == py_trees.Status.RUNNING")
assert (tree.status == py_trees.Status.RUNNING)
def test_running_sequence():
"""
Makes sure proper responses are returned from a oneshot sequence
with running children.
"""
console.banner("Running Sequence")
run_a_bit = py_trees.behaviours.Count(name="RunABit",
fail_until=0,
running_until=2,
success_until=5)
oneshot = py_trees.meta.oneshot(py_trees.composites.Sequence)(
name="Oneshot", children=[run_a_bit])
count = tick_tree(root=oneshot, oneshot=oneshot, from_tick=1, to_tick=4)
assert (count == 1)
def test_set_blackboard_variable():
console.banner("Set Blackboard Variable")
blackboard = create_blackboard()
set_foo = py_trees.blackboard.SetBlackboardVariable(name="Set Foo",
variable_name="foo",
variable_value="bar")
print(" - Set 'foo'")
set_foo.tick_once()
print("\n%s" % blackboard)
print(" - Assert blackboard.foo='bar'")
assert (hasattr(blackboard, "foo"))
assert (blackboard.foo == "bar")
print(" - Assert set_foo.status == SUCCESS")
assert (set_foo.status == Status.SUCCESS)
def test_to_blackboard_initialised(self):
console.banner("ToBlackboard - Initialised")
self.blackboard.clear()
unused_root = py_trees_ros.subscribers.ToBlackboard(
name="ToBlackboard",
topic_name="/battery/state",
topic_type=sensor_msgs.BatteryState,
blackboard_variables={'percentage': 'percentage'},
initialise_variables={'percentage': 0.10},
clearing_policy=py_trees.common.ClearingPolicy.NEVER)
print("----- Asserts -----")
print("blackboard.percentage.............{} [{}]".format(
0.10, self.blackboard.percentage))
self.assertTrue(self.blackboard.percentage == 0.10)
