def test_tick_tock_behaviour_tree():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Tick Tock Behaviour Tree" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
a = py_trees.behaviours.Count(name="A")
sequence = py_trees.Sequence(name="Sequence")
b = py_trees.behaviours.Count(name="B")
c = py_trees.behaviours.Count(name="C")
sequence.add_child(b)
sequence.add_child(c)
d = py_trees.behaviours.Count(name="D")
root = py_trees.Selector(name="Root")
root.add_child(a)
root.add_child(sequence)
root.add_child(d)
tree = py_trees.BehaviourTree(root)
py_trees.display.print_ascii_tree(tree.root)
visitor = py_trees.trees.DebugVisitor()
tree.visitors.append(visitor)
tree.tick_tock(100, 5, pre_tick_handler=pre_tick_visitor)
print("\n--------- Assertions ---------\n")
print("a.status == py_trees.Status.RUNNING")
assert (a.status == py_trees.Status.RUNNING)
def test_prune_behaviour_tree():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Prune Behaviour Tree" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
a = py_trees.behaviours.Count(name="A")
sequence = py_trees.Sequence(name="Sequence")
b = py_trees.behaviours.Count(name="B")
c = py_trees.behaviours.Count(name="C")
sequence.add_child(b)
sequence.add_child(c)
d = py_trees.behaviours.Count(name="D")
root = py_trees.Selector(name="Root")
root.add_child(a)
root.add_child(sequence)
root.add_child(d)
tree = py_trees.BehaviourTree(root)
py_trees.display.print_ascii_tree(tree.root)
assert (len(sequence.children) == 2)
tree.prune_subtree(c.id)
py_trees.display.print_ascii_tree(tree.root)
assert (len(sequence.children) == 1)
tree.prune_subtree(sequence.id)
py_trees.display.print_ascii_tree(tree.root)
assert (len(root.children) == 2)
def test_replace_behaviour_tree():
console.banner("Replace Behaviour Subtree")
a = py_trees.behaviours.Count(name="A")
sequence1 = py_trees.Sequence(name="Sequence1")
b = py_trees.behaviours.Count(name="B")
c = py_trees.behaviours.Count(name="C")
sequence1.add_child(b)
sequence1.add_child(c)
d = py_trees.behaviours.Count(name="D")
root = py_trees.Selector(name="Root")
root.add_child(a)
root.add_child(sequence1)
root.add_child(d)
tree = py_trees.BehaviourTree(root)
py_trees.display.print_ascii_tree(tree.root)
assert (len(sequence1.children) == 2)
sequence2 = py_trees.Sequence(name="Sequence2")
e = py_trees.behaviours.Count(name="E")
f = py_trees.behaviours.Count(name="F")
g = py_trees.behaviours.Count(name="G")
sequence2.add_child(e)
sequence2.add_child(f)
sequence2.add_child(g)
tree.replace_subtree(sequence1.id, sequence2)
py_trees.display.print_ascii_tree(tree.root)
assert (len(sequence2.children) == 3)
def test_failed_tree():
console.banner("Failed Tree")
root = py_trees.Selector("Root")
f1 = py_trees.behaviours.Failure("Failure 1")
f2 = py_trees.behaviours.Failure("Failure 2")
f3 = py_trees.behaviours.Failure("Failure 3")
root.add_child(f1)
root.add_child(f2)
root.add_child(f3)
tree = py_trees.BehaviourTree(root)
py_trees.display.print_ascii_tree(tree.root)
tree.tick()
print("\n--------- Assertions ---------\n")
print("root.tip().name == Failure 3")
assert (root.tip().name == "Failure 3")
def test_condition():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Condition" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
# behaviours will be running the first time they are seen, then success for subsequent ticks
d = py_trees.behaviours.Count(name="D",
fail_until=2,
running_until=2,
success_until=10)
condition = py_trees.behaviours.Condition('condition', d,
py_trees.Status.SUCCESS)
tree = py_trees.BehaviourTree(condition)
py_trees.display.print_ascii_tree(tree.root)
visitor = py_trees.trees.DebugVisitor()
tree.visitors.append(visitor)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (condition.status == py_trees.Status.RUNNING)
assert (d.status == py_trees.Status.FAILURE)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (condition.status == py_trees.Status.RUNNING)
assert (d.status == py_trees.Status.FAILURE)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (condition.status == py_trees.Status.SUCCESS)
assert (d.status == py_trees.Status.SUCCESS)
def test_failed_tree():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Failed Tree" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
root = py_trees.Selector("Root")
f1 = py_trees.behaviours.Failure("Failure 1")
f2 = py_trees.behaviours.Failure("Failure 2")
f3 = py_trees.behaviours.Failure("Failure 3")
root.add_child(f1)
root.add_child(f2)
root.add_child(f3)
tree = py_trees.BehaviourTree(root)
tree.tick()
print("\n--------- Assertions ---------\n")
print("root.tip().name == Failure 3")
assert (root.tip().name == "Failure 3")
def test_tip_complex():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Tip Complex" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
# behaviours will be running the first time they are seen, then success for subsequent ticks
sel = py_trees.composites.Selector(name="Selector")
seq1 = py_trees.composites.Sequence(name="Sequence1")
seq2 = py_trees.composites.Sequence(name="Sequence2")
# selector left branch fails the two times, so seq2 behaviours run. The
# third time it is running, stopping seq2
a = py_trees.behaviours.Count(name="A",
fail_until=1,
running_until=0,
success_until=10)
b = py_trees.behaviours.Count(name="B",
fail_until=0,
running_until=1,
success_until=10)
c = py_trees.behaviours.Count(name="C",
fail_until=0,
running_until=2,
success_until=10)
d = py_trees.behaviours.Count(name="D",
fail_until=0,
running_until=1,
success_until=10)
seq1.add_child(a)
seq1.add_child(b)
seq2.add_child(c)
seq2.add_child(d)
sel.add_child(seq1)
sel.add_child(seq2)
tree = py_trees.BehaviourTree(sel)
py_trees.display.print_ascii_tree(tree.root)
visitor = py_trees.trees.DebugVisitor()
tree.visitors.append(visitor)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (a.status == py_trees.Status.FAILURE)
assert (b.status == py_trees.Status.INVALID)
assert (c.status == py_trees.Status.RUNNING)
assert (d.status == py_trees.Status.INVALID)
# the root of sequence and tree should be the currently running node
assert (seq1.tip() == a)
assert (seq2.tip() == c)
assert (tree.root.tip() == c)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (a.status == py_trees.Status.SUCCESS)
assert (b.status == py_trees.Status.RUNNING)
assert (c.status == py_trees.Status.INVALID)
assert (d.status == py_trees.Status.INVALID)
assert (seq1.tip() == b)
assert (seq2.tip() == None)
assert (tree.root.tip() == b)
tree.tick()
def test_tip_simple():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Tip Simple" + console.reset)
print(
console.bold +
"****************************************************************************************\n"
+ console.reset)
# 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.BehaviourTree(seq)
py_trees.display.print_ascii_tree(tree.root)
visitor = py_trees.trees.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() == None)
assert (seq.tip() == None)
assert (a.tip() == None)
assert (b.tip() == None)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (a.status == py_trees.Status.RUNNING)
assert (b.status == py_trees.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() == None)
tree.tick()
print("\n--------- Assertions ---------\n")
assert (a.status == py_trees.Status.SUCCESS)
assert (b.status == py_trees.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.Status.SUCCESS)
assert (b.status == py_trees.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)
