def test_analyze_sequence():
a_tree = analyze(
alias(
child=repeat_until(
child=sequence(children=[action(hello), action(hello), action(hello)]), condition=success_until_zero
),
name="btree_1",
)
)
print_test = """ --> btree_1:\n --(child)--> repeat_until:\n --(condition)--> success_until_zero:\n --(child)--> sequence:\n succes_threshold: 3\n --(children)--> action:\n target: hello\n --(children)--> action:\n target: hello\n --(children)--> action:\n target: hello\n""" # noqa: E501, B950
assert stringify_analyze(a_tree) == print_test
def test_analyze_tree_2():
tree_2 = retry(child=inverter(child=action(hello)), max_retry=10)
a_tree_2 = analyze(tree_2)
printed_tree = """ --> retry:\n max_retry: 10\n --(child)--> inverter:\n --(child)--> action:\n target: hello\n""" # noqa: E501, B950
assert stringify_analyze(a_tree_2) == printed_tree
def test_analyze_tree_1():
tree_1 = alias(child=repeat_until(child=action(hello), condition=success_until_zero), name="btree_1")
a_tree_1 = analyze(tree_1)
printed_tree = """ --> btree_1:\n --(child)--> repeat_until:\n --(condition)--> success_until_zero:\n --(child)--> action:\n target: hello\n""" # noqa: E501, B950
assert stringify_analyze(a_tree_1) == printed_tree
def test_node_str():
node = analyze(alias(child=action(target=hello), name='a test'))
printed_tree = """ --> a test:\n --(child)--> action:\n target: hello\n"""
assert str(node) == printed_tree
class GripperInterface:
def __init__(self):
self._open = False
def open(self):
print("GripperInterface Open")
self._open = True
def close(self):
print("GripperInterface Close")
self._open = False
gripper = GripperInterface()
b_tree = bt.sequence(
children=[
bt.always_success(child=bt.action(target=say_hello, name="John")),
bt.action(target=check_battery),
check_again_battery, # this will be encapsulated at runtime
bt.always_success(child=bt.action(target=gripper.open)),
bt.always_success(child=bt.action(target=approach_object, name="house")),
bt.always_success(child=bt.action(target=gripper.close)),
]
)
if __name__ == '__main__':
curio.run(b_tree)
def test_action_results(kernel):
async def compute(a, b):
return a + b
assert kernel.run(action(compute, a=1, b=1)) == 2
def test_action_with_exception_is_falsy(kernel):
async def generate_exception():
raise Exception("Bing!")
assert not kernel.run(action(generate_exception))
