def test_nodes(Sample_Blackboard):
# Create nodes
print('\n\n Let us start testing our basic node types')
test_node_1 = task('Enter Carm', None, None, None)
test_node_2 = task('Find Pizza', 'recive', 'PIZZA_LOCATION', None)
test_node_3 = task('Eat Pizza', 'write', 'EAT_PIZZA', True)
Condition_1 = condition('EAT_PIZZA')
test_stack = []
#Execute nodes and see if they work or not
print('\n Let us see if our pizza condition is corretly false:')
if Condition_1.execute(Sample_Blackboard, test_stack) == 'FAILED':
print('Condition is False!')
print('\n Now let us see our nodes run as expected:')
if test_node_1.execute(Sample_Blackboard, test_stack) == 'SUCCEEDED':
print(' Node 1 worked')
if test_node_2.execute(Sample_Blackboard, test_stack) == 'SUCCEEDED':
print(' Node 2 worked')
if test_node_3.execute(Sample_Blackboard, test_stack) == 'SUCCEEDED':
print(' Node 3 worked')
print('\n Finally our pizza condition should corretly succeede now:')
if Condition_1.execute(Sample_Blackboard, test_stack) == 'SUCCEEDED':
print('Condition is True!')
def create_spot():
# Create all tasks related to spot cleaning
Spot_condition = condition('SPOT')
Clean_Spot = task('Clean Spot', None, None, None)
Spot_Timer = timer(20, Clean_Spot)
Done_Spot = task('Done Spot', 'write', 'SPOT', False)
# Create list of tasks and create/return squence
Spot_tasks_list = [Spot_condition, Spot_Timer, Done_Spot]
return sequence(Spot_tasks_list)
def create_battery_branch():
#Creating all tasks related to going home
Battery_condition = condition('BATTERY_UNDER_30')
Find_home = task('Find Home', 'write', 'HOME_PATH', 'It is over there!')
Go_home = task('Go Home', 'recive', 'HOME_PATH', None)
Dock = task('Dock', 'write', 'SIM_OVER', True)
# Create list of tasks and create/return squence
Battery_Task_List = [Battery_condition, Find_home, Go_home, Dock]
return sequence(Battery_Task_List)
def test_Decorators(Sample_Blackboard):
print('\n\n Finally we will test our Decorators types')
test_node_1 = task('Enter Carm', None, None, None)
test_node_3 = task('Eat Pizza', 'write', 'EAT_PIZZA', True)
Condition_1 = condition('EAT_PIZZA')
test_list_1 = [Condition_1, test_node_1]
test_stack = []
print('\n Let us test our negations')
Test_negation_1 = negation(Condition_1)
Test_negation_2 = negation(test_node_3)
if Test_negation_1.execute(Sample_Blackboard, test_stack) == 'SUCCEEDED':
print(' Test_negation_1 returns SUCCEEDED, worked correctly')
if Test_negation_2.execute(Sample_Blackboard, test_stack) == 'FAILED':
print(' Test_negation_2 returns FAILED, worked correctly')
if Test_negation_1.execute(Sample_Blackboard, test_stack) == 'FAILED':
print(' Test_negation_1 returns FAILED now, worked correctly')
print('\n Let us test a timer')
Test_timer = timer(10, test_node_1)
Test_timer.execute(Sample_Blackboard, test_stack)
print(' Timer is at:', Sample_Blackboard['TIMER'])
while Test_timer.execute(Sample_Blackboard, test_stack) == 'RUNNING':
print(' Timer is at:', Sample_Blackboard['TIMER'])
print('\n Let us test timer again, to make sure it works twice')
Test_timer.execute(Sample_Blackboard, test_stack)
print(' Timer is at:', Sample_Blackboard['TIMER'])
while Test_timer.execute(Sample_Blackboard, test_stack) == 'RUNNING':
print(' Timer is at:', Sample_Blackboard['TIMER'])
Sample_Blackboard['EAT_PIZZA'] = True
print('\n Let us test our until false, should run 8 times')
test_sequence_1 = sequence(test_list_1)
Test_until_false = until_false(test_sequence_1)
for x in range(1, 20):
if Test_until_false.execute(Sample_Blackboard,
test_stack) == 'RUNNING':
print(' This is the', x, 'time untill_false has run')
if x == 8:
Sample_Blackboard['EAT_PIZZA'] = False
def test_Composities(Sample_Blackboard):
print('\n\n Now let us test our composities types')
#Create nodes and lists to use
test_node_1 = task('Enter Carm', None, None, None)
test_node_2 = task('Find Pizza', 'recive', 'PIZZA_LOCATION', None)
test_node_3 = task('Eat Pizza', 'write', 'EAT_PIZZA', True)
Condition_1 = condition('EAT_PIZZA')
test_list_1 = [test_node_1, test_node_2]
test_list_2 = [Condition_1, test_node_1, test_node_3]
test_list_3 = [Condition_1]
test_stack = []
#Call functions that test different types of Composities
test_selector(Sample_Blackboard, test_stack, test_list_1, test_list_2,
test_list_3)
test_sequence(Sample_Blackboard, test_stack, test_list_1, test_list_2,
test_list_3)
test_priority(Sample_Blackboard, test_stack, test_node_1, test_node_2,
Condition_1)
def create_general():
# Create dusty spot cleaner
Dusty_condition = condition('DUSTY_SPOT')
Clean_Dusty = task('Clean Spot', None, None, None)
Dusty_Timer = timer(35, Clean_Dusty)
Dusty_Clean_Sequence = sequence([Dusty_condition, Dusty_Timer])
# Create branches that check battery and do a simlpe clean
Clean = task('Clean', None, None, None)
General_Selector = selector([Dusty_Clean_Sequence, Clean])
Battery_condition = condition('BATTERY_UNDER_30')
Battery_Negation = negation(Battery_condition)
Untill_False_Sequence = sequence([Battery_Negation, General_Selector])
Untill_False_Node = until_false(Untill_False_Sequence)
# Create branches that check if the user wants to execute general then
#create and return whole sequence
Done_General = task('Done General', 'write', 'GENERAL', False)
Execute_Sequence = sequence([Untill_False_Node, Done_General])
General_condition = condition('GENERAL')
return sequence([General_condition, Execute_Sequence])
def create_roomba():
#Create branches for some of the roomba's behaviors
Battery_Task_Sequence = create_battery_branch()
Spot_Clean_Sequence = create_spot()
Genral_Sequence = create_general()
#combining spot clean and General Clean together
cleaning_list = [Spot_Clean_Sequence, Genral_Sequence]
Cleaning_Selector = selector(cleaning_list)
#Creating do nothing branch
Do_Nothing = task('Do Nothing', None, None, None)
#Creating Tree and it's root which will be a priority node
Priority_tasks = [Battery_Task_Sequence, Cleaning_Selector, Do_Nothing]
priority_root = priority(Priority_tasks)
sim_roomba = Tree(priority_root)
return sim_roomba