def test_initialization(self):
node = b3.MemSequence()
self.assertIsNotNone(node.id)
self.assertEqual(node.name, 'MemSequence')
self.assertEqual(node.title, 'MemSequence')
self.assertIsNotNone(node.description)
def test_memory_continue(self):
node1 = get_node(b3.SUCCESS)
node2 = get_node(b3.SUCCESS)
node3 = get_node(b3.SUCCESS)
node4 = get_node(b3.FAILURE)
node5 = get_node(b3.SUCCESS)
memsequence = b3.MemSequence(
children=[node1, node2, node3, node4, node5])
memsequence.id = 'node1'
tick = TickStub()
tick.blackboard.get.return_value = 2
status = memsequence._execute(tick)
expected = [
mock.call('is_open', False, 'tree1', 'node1'),
]
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)
self.assertEqual(node1._execute.call_count, 0)
self.assertEqual(node2._execute.call_count, 0)
self.assertEqual(node3._execute.call_count, 1)
self.assertEqual(node4._execute.call_count, 1)
self.assertEqual(node5._execute.call_count, 0)
def test_success(self):
node1 = get_node(b3.SUCCESS)
node2 = get_node(b3.SUCCESS)
node3 = get_node(b3.SUCCESS)
memsequence = b3.MemSequence(children=[node1, node2, node3])
tick = TickStub()
tick.blackboard.get.return_value = 0
status = memsequence.tick(tick)
self.assertEqual(status, b3.SUCCESS)
self.assertEqual(node1._execute.call_count, 1)
self.assertEqual(node2._execute.call_count, 1)
self.assertEqual(node3._execute.call_count, 1)
def test_memory(self):
node1 = get_node(b3.SUCCESS)
node2 = get_node(b3.SUCCESS)
node3 = get_node(b3.RUNNING)
node4 = get_node(b3.FAILURE)
node5 = get_node(b3.SUCCESS)
memsequence = b3.MemSequence(
children=[node1, node2, node3, node4, node5])
memsequence.id = 'node1'
tick = TickStub()
tick.blackboard.get.return_value = 0
status = memsequence._execute(tick)
expected = [
mock.call('is_open', True, 'tree1', 'node1'),
mock.call('running_child', 0, 'tree1', 'node1'),
mock.call('running_child', 2, 'tree1', 'node1')
]
result = tick.blackboard.set.mock_calls
self.assertListEqual(result, expected)
def test_dump(self):
tree = b3.BehaviorTree()
class Custom(b3.Condition):
title = 'custom'
tree.properties = {
'prop': 'value',
'comp': {
'val1': 234,
'val2': 'value'
}
}
node5 = Custom()
node5.id = 'node-5'
node5.title = 'Node5'
node5.description = 'Node 5 Description'
node4 = b3.Wait()
node4.id = 'node-4'
node4.title = 'Node4'
node4.description = 'Node 4 Description'
node3 = b3.MemSequence([node5])
node3.id = 'node-3'
node3.title = 'Node3'
node3.description = 'Node 3 Description'
node2 = b3.Inverter(node4)
node2.id = 'node-2'
node2.title = 'Node2'
node2.description = 'Node 2 Description'
node1 = b3.Priority([node2, node3])
node1.id = 'node-1'
node1.title = 'Node1'
node1.description = 'Node 1 Description'
node1.properties = {'key': 'value'}
tree.root = node1
tree.title = 'Title in Tree'
tree.description = 'Tree Description'
data = tree.dump()
self.assertEqual(data['title'], 'Title in Tree')
self.assertEqual(data['description'], 'Tree Description')
self.assertEqual(data['root'], 'node-1')
self.assertEqual(data['properties']['prop'], 'value')
self.assertEqual(data['properties']['comp']['val1'], 234)
self.assertEqual(data['properties']['comp']['val2'], 'value')
self.assertNotEqual(data['custom_nodes'], None)
self.assertEqual(len(data['custom_nodes']), 1)
self.assertEqual(data['custom_nodes'][0]['name'], 'Custom')
self.assertEqual(data['custom_nodes'][0]['title'], 'Node5')
self.assertEqual(data['custom_nodes'][0]['category'], b3.CONDITION)
self.assertNotEqual(data['nodes']['node-1'], None)
self.assertNotEqual(data['nodes']['node-2'], None)
self.assertNotEqual(data['nodes']['node-3'], None)
self.assertNotEqual(data['nodes']['node-4'], None)
self.assertNotEqual(data['nodes']['node-5'], None)
self.assertEqual(data['nodes']['node-1']['id'], 'node-1')
self.assertEqual(data['nodes']['node-1']['name'], 'Priority')
self.assertEqual(data['nodes']['node-1']['title'], 'Node1')
self.assertEqual(data['nodes']['node-1']['description'],
'Node 1 Description')
self.assertEqual(data['nodes']['node-1']['children'][0], 'node-3')
self.assertEqual(data['nodes']['node-1']['children'][1], 'node-2')
self.assertEqual(data['nodes']['node-1']['properties']['key'], 'value')
self.assertEqual(data['nodes']['node-2']['name'], 'Inverter')
self.assertEqual(data['nodes']['node-2']['title'], 'Node2')
self.assertEqual(data['nodes']['node-2']['description'],
'Node 2 Description')
self.assertNotEqual(data['nodes']['node-2']['child'], None)
self.assertEqual(data['nodes']['node-3']['name'], 'MemSequence')
self.assertEqual(data['nodes']['node-3']['title'], 'Node3')
self.assertEqual(data['nodes']['node-3']['description'],
'Node 3 Description')
self.assertEqual(len(data['nodes']['node-3']['children']), 1)
self.assertEqual(data['nodes']['node-4']['name'], 'Wait')
self.assertEqual(data['nodes']['node-4']['title'], 'Node4')
self.assertEqual(data['nodes']['node-4']['description'],
'Node 4 Description')
self.assertEqual(data['nodes']['node-5']['name'], 'Custom')
self.assertEqual(data['nodes']['node-5']['title'], 'Node5')
self.assertEqual(data['nodes']['node-5']['description'],
'Node 5 Description')