def test_add_node(self, tree_manager, tree):
visualization = tree_manager.tree_nodes['visualization'].node
tree_manager.remove_node('visualization')
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'visualization' not in display.ascii_tree(tree.root)
with pytest.raises(KeyError):
tree_manager.enable_node('visualization')
tree_manager.insert_node(visualization, 'wait for goal', 3)
assert 'visualization' in tree_manager.tree_nodes.keys()
assert 'visualization' in display.ascii_tree(tree.root)
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['wait for goal'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['wait for goal'].enabled_children
]
def test_disable_enable_vis(self, tree_manager, tree):
ascii_tree = display.ascii_tree(tree.root)
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
tree_manager.disable_node('visualization')
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'visualization' not in display.ascii_tree(tree.root)
tree_manager.enable_node('visualization')
assert display.ascii_tree(tree.root) == ascii_tree
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
def test_remove_disabled_node(self, tree_manager, tree):
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
tree_manager.disable_node('visualization')
tree_manager.remove_node('visualization')
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'visualization' not in display.ascii_tree(tree.root)
with pytest.raises(KeyError):
tree_manager.enable_node('visualization')
assert display.ascii_tree(tree.root) == """root
[-] wait for goal
--> tf
--> js1
--> pybullet updater
--> has goal
--> js2
--> cleanup
--> process move goal
--> planning I
--> update constraints
--> planning II
--> goal canceled
--> cpi marker
--> planning III
--> set move goal
--> plot trajectory
--> post processing
--> wiggle_cancel_final_detection
--> post_processing
--> move robot
--> execute?
--> monitor execution
--> goal canceled
--> send traj
--> send result
"""
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
def test_same_order_add_node(self, tree_manager, tree):
visualization = tree_manager.tree_nodes['visualization'].node
tree_manager.remove_node('visualization')
tree_manager.disable_node('cpi marker')
tree_manager.disable_node('update constraints')
assert 'visualization' not in display.ascii_tree(tree.root)
assert 'cpi marker' not in display.ascii_tree(tree.root)
assert 'update constraints' not in display.ascii_tree(tree.root)
tree_manager.insert_node(visualization, 'planning I', 1)
tree_manager.enable_node('cpi marker')
tree_manager.enable_node('update constraints')
assert display.ascii_tree(tree.root) == """root
def test_enable_node_twice(self, tree_manager, tree):
ascii_tree = display.ascii_tree(tree.root)
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
with pytest.raises(ValueError):
tree_manager.enable_node('visualization')
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert ascii_tree == display.ascii_tree(tree.root)
def test_everything(self, tree_manager, tree):
update_constraints = tree_manager.tree_nodes['update constraints'].node
cpi_marker = tree_manager.tree_nodes['cpi marker'].node
visualization = tree_manager.tree_nodes['visualization'].node
js1 = tree_manager.tree_nodes['js1'].node
post_processing = tree_manager.tree_nodes['post processing'].node
tree_manager.remove_node('visualization')
tree_manager.remove_node('cpi marker')
tree_manager.remove_node('update constraints')
tree_manager.remove_node('post processing')
tree_manager.remove_node('js1')
tree_manager.disable_node('pybullet updater')
tree_manager.remove_node('pybullet updater')
tree_manager.insert_node(visualization, 'wait for goal', 1)
tree_manager.insert_node(cpi_marker, 'wait for goal', 3)
tree_manager.insert_node(js1, 'wait for goal')
tree_manager.insert_node(update_constraints, 'wait for goal', 1)
tree_manager.insert_node(post_processing, 'wait for goal', 4)
assert display.ascii_tree(tree.root) == """root
def test_disable_child_of_disabled_node(self, tree_manager, tree):
ascii_tree = display.ascii_tree(tree.root)
assert 'process move goal' not in [
x.node.name
for x in tree_manager.tree_nodes['root'].disabled_children
]
assert 'process move goal' in [
x.node.name
for x in tree_manager.tree_nodes['root'].enabled_children
]
tree_manager.disable_node('process move goal')
assert 'process move goal' not in display.ascii_tree(tree.root)
assert 'visualization' not in display.ascii_tree(tree.root)
assert 'process move goal' in [
x.node.name
for x in tree_manager.tree_nodes['root'].disabled_children
]
assert 'process move goal' not in [
x.node.name
for x in tree_manager.tree_nodes['root'].enabled_children
]
assert 'process move goal' not in display.ascii_tree(tree.root)
tree_manager.disable_node('visualization')
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
tree_manager.enable_node('process move goal')
assert 'process move goal' in display.ascii_tree(tree.root)
assert 'visualization' not in display.ascii_tree(tree.root)
tree_manager.enable_node('visualization')
assert ascii_tree == display.ascii_tree(tree.root)
def test_text_trees():
console.banner("Text Trees")
root = py_trees.composites.Selector("Selector")
high_priority = py_trees.behaviours.Count(name="High Priority",
fail_until=1,
running_until=1,
success_until=10)
low_priority = py_trees.behaviours.Running(name="Low Priority")
root.add_children([high_priority, low_priority])
tree = py_trees.trees.BehaviourTree(root)
snapshot_visitor = py_trees.visitors.SnapshotVisitor()
tree.visitors.append(snapshot_visitor)
tree.tick()
tree.tick()
snippets = {}
# Visited
snippets["visited_ascii_tree"] = display.ascii_tree(
tree.root,
visited=snapshot_visitor.visited,
previously_visited=snapshot_visitor.previously_visited)
print(snippets["visited_ascii_tree"])
snippets["visited_xhtml"] = display.xhtml_tree(
tree.root,
visited=snapshot_visitor.visited,
previously_visited=snapshot_visitor.previously_visited)
print(snippets["visited_xhtml"])
print()
# Non-Visited
snippets["non_visited_ascii_tree"] = display.ascii_tree(tree.root)
print(snippets["non_visited_ascii_tree"])
print()
snippets["non_visited_xhtml"] = display.xhtml_tree(tree.root)
print(snippets["non_visited_xhtml"])
print()
# Non-Visited with Status
snippets["non_visited_ascii_tree_status"] = display.ascii_tree(
tree.root, show_status=True)
print(snippets["non_visited_ascii_tree_status"])
print()
snippets["non_visited_xhtml_status"] = display.xhtml_tree(tree.root,
show_status=True)
print(snippets["non_visited_xhtml_status"])
print()
print_assert_banner()
for snippet_name, snippet in snippets.items():
for b in root.iterate():
print_assert_details("{} in {}".format(b.name, snippet_name), True,
b.name in snippet)
assert (b.name in snippet)
print_assert_details("status symbol '-' in visited_ascii_tree", True, '-'
in snippets["visited_ascii_tree"])
assert ('-' in snippets["visited_ascii_tree"])
print_assert_details("status symbol '-' in non_visited_ascii_tree_status",
True, '-'
in snippets["non_visited_ascii_tree_status"])
assert ('-' in snippets["non_visited_ascii_tree_status"])
try:
unused_element = xml.etree.ElementTree.fromstring(
snippets["visited_xhtml"])
unused_element = xml.etree.ElementTree.fromstring(
snippets["non_visited_xhtml"])
unused_element = xml.etree.ElementTree.fromstring(
snippets["non_visited_xhtml_status"])
print_assert_details("xml ParseError", None, None)
except xml.etree.ElementTree.ParseError as e:
print_assert_details("xml ParseError", None, str(e))
assert False, "failed to parse the xhtml snippet as valid xml"
def post_tick(snapshot_visitor, behaviour_tree):
print(u'\n' + ascii_tree(behaviour_tree.root,
snapshot_information=snapshot_visitor))
def test_add_node_twice(self, tree_manager, tree):
visualization = tree_manager.tree_nodes['visualization'].node
with pytest.raises(ValueError):
tree_manager.insert_node(visualization, 'wait for goal', 3)
assert display.ascii_tree(tree.root) == """root
def test_enable_disable_multiple_nodes(self, tree_manager, tree):
ascii_tree = display.ascii_tree(tree.root)
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'cpi marker' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'cpi marker' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'wait for goal' not in [
x.node.name
for x in tree_manager.tree_nodes['root'].disabled_children
]
assert 'wait for goal' in [
x.node.name
for x in tree_manager.tree_nodes['root'].enabled_children
]
tree_manager.disable_node('visualization')
tree_manager.disable_node('cpi marker')
tree_manager.disable_node('wait for goal')
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'visualization' not in display.ascii_tree(tree.root)
assert 'cpi marker' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'cpi marker' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'cpi marker' not in display.ascii_tree(tree.root)
assert 'wait for goal' in [
x.node.name
for x in tree_manager.tree_nodes['root'].disabled_children
]
assert 'wait for goal' not in [
x.node.name
for x in tree_manager.tree_nodes['root'].enabled_children
]
assert 'wait for goal' not in display.ascii_tree(tree.root)
tree_manager.enable_node('cpi marker')
tree_manager.enable_node('visualization')
tree_manager.enable_node('wait for goal')
assert display.ascii_tree(tree.root) == ascii_tree
assert 'visualization' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'visualization' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'cpi marker' not in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].disabled_children
]
assert 'cpi marker' in [
x.node.name
for x in tree_manager.tree_nodes['planning II'].enabled_children
]
assert 'wait for goal' not in [
x.node.name
for x in tree_manager.tree_nodes['root'].disabled_children
]
assert 'wait for goal' in [
x.node.name
for x in tree_manager.tree_nodes['root'].enabled_children
]
