def tick(self, target, blackboard):
# Create the TICK object
tick = b3.Tick()
tick.target = target
tick.blackboard = blackboard
tick.tree = self
tick.debug = self.debug
# Tick node
state = self.root._execute(tick)
# Close node from last tick, if needed
last_open_nodes = blackboard.get('open_nodes', self.id)
curr_open_nodes = tick._open_nodes
start = 0
for node1, node2 in itertools.izip(last_open_nodes, curr_open_nodes):
start += 1
if node1 != node2:
break
# - close nodes
for i in xrange(len(last_open_nodes) - 1, start - 1, -1):
last_open_nodes[i]._close(tick)
# Populate blackboard
blackboard.set('open_nodes', curr_open_nodes, self.id)
blackboard.set('node_count', tick._node_count, self.id)
def test_updateTickOnEnter(self):
tick = b3.Tick()
node = 'Node'
tick._enter_node(node)
self.assertEqual(tick._node_count, 1)
self.assertListEqual(tick._open_nodes, ['Node'])
def tick(self, target, blackboard):
# Create the TICK object
tick = b3.Tick()
tick.target = target
tick.blackboard = blackboard
tick.tree = self
tick.debug = self.debug
return self._execute(tick)
def test_initialization(self):
tick = b3.Tick()
self.assertIsNone(tick.tree)
self.assertIsNone(tick.debug)
self.assertIsNone(tick.target)
self.assertIsNone(tick.blackboard)
self.assertEqual(tick._node_count, 0)
self.assertListEqual(tick._open_nodes, [])
def test_updateTickOnClose(self):
tick = b3.Tick()
node = 'Node'
tick._node_count = 1
tick._open_nodes = [node]
tick._close_node(node)
self.assertEqual(tick._node_count, 1)
self.assertListEqual(tick._open_nodes, [])
def tick(self, target, blackboard):
self.tick_count += 1
# Create the TICK object
tick = b3.Tick()
tick.target = target
tick.blackboard = blackboard
tick.tree = self
tick.debug = self.debug
# Tick node
state = self.root._execute(tick)
# BH Hacks
# if state != b3.RUNNING:
# if state == b3.SUCCESS:
# print "Root node SUCCESS!!!"
# if state == b3.FAILURE:
# print "Root node FAILURE!!!"
# BH: code below nonfunctional with "RUNNING" nodes
# and largely commented out
# Close node from last tick, if needed
last_open_nodes = blackboard.get('open_nodes', self.id)
curr_open_nodes = tick._open_nodes
start = 0
# for node1, node2 in itertools.izip(last_open_nodes, curr_open_nodes):
#start += 1
# if node1 != node2:
# break
# - close nodes
# for i in xrange(len(last_open_nodes)-1, start-1, -1):
# last_open_nodes[i]._close(tick);
# Populate blackboard
blackboard.set('open_nodes', curr_open_nodes, self.id)
blackboard.set('node_count', tick._node_count, self.id)
return state