################################################################################# # Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. # # # # Licensed under the Apache License, Version 2.0 (the "License"). # # You may not use this file except in compliance with the License. # # You may obtain a copy of the License at # # # # http://www.apache.org/licenses/LICENSE-2.0 # # # # Unless required by applicable law or agreed to in writing, software # # distributed under the License is distributed on an "AS IS" BASIS, # # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # # See the License for the specific language governing permissions and # # limitations under the License. # ################################################################################# from typing import Any, Callable, Optional, Iterable from unittest import mock, TestCase from unittest.mock import patch, MagicMock, call import inspect from deepsim_btree.composites.composite import Composite from deepsim_btree.behaviour import Behaviour from deepsim_btree.constants import Status from deepsim_btree.leaves import Success, Failure, Running myself: Callable[[], Any] = lambda: inspect.stack()[1][3] class RunningComposite(Composite): def __init__(self, children: Optional[Iterable[Behaviour]] = None, name: Optional[str] = None): super(RunningComposite, self).__init__(name=name, children=children) def update(self) -> Status: return Status.RUNNING class CompositeTest(TestCase): def setUp(self) -> None: pass def test_init(self): composite = Composite() assert composite.name == "Composite" assert composite.children == [] children = [Success(), Failure(), Success()] composite = Composite(children=children) assert composite.children == children def test_stop(self): running = Running() running.tick() children = [Success(), running, Success()] composite = Composite(children=children) assert composite.children == children composite.stop() for child in composite.children: assert child.status != Status.RUNNING assert composite.status == Status.INVALID def test_add_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.add_child(child=child) assert child in composite.children assert child_id == child.id assert child.parent == composite def test_add_child_wrong_typed_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) with self.assertRaises(TypeError): composite.add_child(42.0) def test_add_child_with_parent(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) parent = Success() child = Running() child.parent = parent with self.assertRaises(RuntimeError): composite.add_child(child) def test_add_child_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) composite.tick() child = Running() with self.assertRaises(RuntimeError): composite.add_child(child) def test_add_children(self): composite = Composite() children = [Success(), Failure(), Success()] obj = composite.add_children(children=children) assert obj == composite assert children == composite.children def test_add_children_wrong_typed_child(self): composite = Composite() children = [42.0, 32.0, 22.2] with self.assertRaises(TypeError): composite.add_children(children=children) def test_add_children_with_parent(self): composite = Composite() parent = Success() child_with_parent = Running() child_with_parent.parent = parent children = [Success(), child_with_parent, Success()] with self.assertRaises(RuntimeError): composite.add_children(children=children) def test_add_children_during_running(self): composite = RunningComposite() composite.tick() children = [Success(), Failure(), Success()] with self.assertRaises(RuntimeError): composite.add_children(children=children) def test_remove_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.add_child(child=child) assert child.parent == composite assert child in composite.children assert child_id == child.id removed_child_idx = composite.remove_child(child=child) assert child not in composite.children assert removed_child_idx == 3 assert child.parent is None def test_remove_running_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child.tick() child_id = composite.add_child(child=child) assert child in composite.children assert child_id == child.id removed_child_idx = composite.remove_child(child=child) assert child not in composite.children assert removed_child_idx == 3 assert child.status == Status.INVALID def test_remove_child_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) child = Running() child_id = composite.add_child(child=child) assert child in composite.children assert child_id == child.id composite.tick() with self.assertRaises(RuntimeError): composite.remove_child(child=child) def test_remove_all_children(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) composite.remove_all_children() assert composite.children == [] def test_remove_all_children_with_running_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child.tick() child_id = composite.add_child(child=child) assert child in composite.children assert child_id == child.id composite.remove_all_children() assert composite.children == [] assert child.status == Status.INVALID def test_remove_all_children_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) composite.tick() with self.assertRaises(RuntimeError): composite.remove_all_children() def test_replace_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.add_child(child=child) assert child.parent == composite assert child in composite.children assert child_id == child.id replacement = Success() replacement_idx = composite.replace_child(child=child, replacement=replacement) assert child not in composite.children assert child.parent is None assert replacement in composite.children assert replacement.parent == composite assert replacement_idx == composite.children.index(replacement) def test_replace_child_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) child = Running() child_id = composite.add_child(child=child) assert child.parent == composite assert child in composite.children assert child_id == child.id composite.tick() replacement = Success() with self.assertRaises(RuntimeError): composite.replace_child(child=child, replacement=replacement) def test_remove_child_by_id(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.add_child(child=child) assert child.parent == composite assert child in composite.children assert child_id == child.id composite.remove_child_by_id(child_id=child_id) assert child not in composite.children assert child.parent is None def test_remove_child_by_id_not_found(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() with self.assertRaises(IndexError): composite.remove_child_by_id(child_id=child.id) def test_remove_child_by_id_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) child = Running() child_id = composite.add_child(child=child) assert child in composite.children assert child_id == child.id composite.tick() with self.assertRaises(RuntimeError): composite.remove_child_by_id(child_id=child_id) def test_prepend_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.prepend_child(child=child) assert child == composite.children[0] assert child_id == child.id assert child.parent == composite def test_prepend_child_wrong_typed_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) with self.assertRaises(TypeError): composite.prepend_child(42.0) def test_prepend_child_with_parent(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) parent = Success() child = Running() child.parent = parent with self.assertRaises(RuntimeError): composite.prepend_child(child) def test_prepend_child_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) composite.tick() child = Running() with self.assertRaises(RuntimeError): composite.prepend_child(child) def test_insert_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) child = Running() child_id = composite.insert_child(child, 2) assert child == composite.children[2] assert child_id == child.id assert child.parent == composite def test_insert_child_wrong_typed_child(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) with self.assertRaises(TypeError): composite.insert_child(42.0, 2) def test_insert_child_with_parent(self): children = [Success(), Failure(), Success()] composite = Composite(children=children) parent = Success() child = Running() child.parent = parent with self.assertRaises(RuntimeError): composite.insert_child(child, 2) def test_insert_child_during_running(self): children = [Success(), Failure(), Success()] composite = RunningComposite(children=children) composite.tick() child = Running() with self.assertRaises(RuntimeError): composite.insert_child(child, 2)