def test_executeCallingFunction(self):
node = b3.BaseNode()
tick = TickStub()
node.id = 'node1'
# mocking
tick.blackboard.get.return_value = False
node.enter = mock.Mock()
node.open = mock.Mock()
node.tick = mock.Mock()
node.tick.return_value = b3.SUCCESS # close the node
node.close = mock.Mock()
node.exit = mock.Mock()
# run
status = node._execute(tick)
# test
self.assertIsNotNone(status)
node.enter.assert_called_once_with(tick)
node.open.assert_called_once_with(tick)
node.tick.assert_called_once_with(tick)
node.close.assert_called_once_with(tick)
node.exit.assert_called_once_with(tick)
def test_initialization(self):
node = b3.BaseNode()
self.assertIsNotNone(node.id)
self.assertIsNone(node.category)
self.assertIsNotNone(node.title)
self.assertEqual(node.description, '')
self.assertDictEqual(node.parameters, {})
self.assertDictEqual(node.properties, {})
self.assertEqual(node.description, '')
self.assertRaises(AttributeError, lambda: node.children)
self.assertRaises(AttributeError, lambda: node.child)
def test_executeDoesNotOpen(self):
node = b3.BaseNode()
tick = TickStub()
node.id = 'node1'
# mocking
tick.blackboard.get.return_value = True
node._tick = mock.Mock()
node._tick.return_value = b3.RUNNING # does not close the node
# run
node._execute(tick)
# test
expected = []
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)
def test_executeCallingTickCallbacks(self):
node = b3.BaseNode()
tick = TickStub()
node.id = 'node1'
# mocking
tick.blackboard.get.return_value = False
node.tick = mock.Mock()
node.tick.return_value = b3.SUCCESS # close the node
# run
node._execute(tick)
tick._enter_node.assert_called_once_with(node)
tick._open_node.assert_called_once_with(node)
tick._tick_node.assert_called_once_with(node)
tick._close_node.assert_called_once_with(node)
tick._exit_node.assert_called_once_with(node)
def test_closeNode(self):
node = b3.BaseNode()
tick = TickStub()
node.id = 'node1'
# mocking
tick.blackboard.get.return_value = True
node._tick = mock.Mock()
node._tick.return_value = b3.SUCCESS # close the node
# run
node._execute(tick)
# test
expected = [
mock.call.blackboard.set('is_open', False, 'tree1', 'node1')
]
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)