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
async def tick():
value = counter.get()
counter.set(value - 1)
if value <= 0:
return FAILURE
if value == 3:
raise RuntimeError('3')
return SUCCESS
assert kernel.run(repeat_until(
condition=tick, child=a_func)) == 'a', 'return last sucess result'
assert counter.get() == 2
from curio import Kernel
k = Kernel()
tree1 = sequence(children=[a_func, failure_func, success_func])
r = k.run(tree1)
print(f"result={r}")
tree2 = selector(children=[exception_func, failure_func, a_func])
r = k.run(tree2)
print(f"result={r}")
assert k.run(decision(condition=success_func, success_tree=a_func)) == 'a'
print("===")
test_repeat_until_falsy_condition(k)
k.run(shutdown=True)
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)
return name.get() != ""
async def ask_for_name():
new_name = input("Hello, whats your name? \n")
if new_name != "":
name.set(new_name)
return bt.SUCCESS
else:
return bt.FAILURE
name = contextvars.ContextVar('name', default="")
greet_with_name = bt.decision(condition=is_name_set,
success_tree=say_hello,
failure_tree=bt.sequence(
[ask_for_name, say_hello]))
b_tree = bt.sequence(children=[greet_with_name, some_action])
if __name__ == '__main__':
name = contextvars.ContextVar('name', default="")
curio.run(b_tree)
# You can take a look at the final behavior tree
abstract_tree_tree_1 = bt.analyze(b_tree)
print(bt.stringify_analyze(abstract_tree_tree_1))
async def say_hello(name: str):
print(f"Hello: {name}")
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.always_success(child=bt.action(target=check_battery)),
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_sequence(kernel):
assert not kernel.run(
sequence(children=[a_func, failure_func, success_func
])), "default behaviour fail of one failed"
assert kernel.run(
sequence(children=[a_func, failure_func, success_func],
succes_threshold=2))
assert kernel.run(
sequence(children=[a_func, success_func, failure_func],
succes_threshold=2))
assert kernel.run(
sequence(children=[failure_func, a_func, success_func],
succes_threshold=2)), 'must continue after first failure'
assert kernel.run(
sequence(children=[exception_func, failure_func, a_func],
succes_threshold=1))
assert not kernel.run(
sequence(children=[exception_func, failure_func], succes_threshold=1))
assert not kernel.run(sequence(children=[]))
# negative
with pytest.raises(AssertionError):
sequence(children=[exception_func, failure_func], succes_threshold=-2)
# upper than len children
with pytest.raises(AssertionError):
sequence(children=[exception_func, failure_func], succes_threshold=3)