443 lines
14 KiB
Python
443 lines
14 KiB
Python
from pathlib import Path
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import pytest
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import sys, os
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sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
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from thirdparty.py_trees.trees import BehaviourTree
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from core.behavior_tree import ReleaseFlowActionDecorator, ReleaseFlowBuilder, ReleaseFlowAction
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from thirdparty.py_trees.common import Status, Access
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from core.logger import get_logger
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log = get_logger()
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class ActionTest(ReleaseFlowAction):
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"""测试用的Action节点"""
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def __init__(self, name: str, return_status: Status, description: str = ""):
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super().__init__(name, description)
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self.return_status = return_status
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self.process_called = False
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self.setup_called = False
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self.shutdown_called = False
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def setup(self):
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self.setup_called = True
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log.info(f"setup: {self.name}")
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def process(self):
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self.process_called = True
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self.status = self.return_status
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log.info(f"process: {self.name}, status: {self.status}")
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def update(self):
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return self.status
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def shutdown(self):
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self.shutdown_called = True
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class ActionTestBlackboard(ReleaseFlowAction):
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"""测试Blackboard功能的Action节点"""
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def __init__(self, name: str, description: str = ""):
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super().__init__(name, description)
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self.blackboard.register_key("test_key", access=Access.WRITE)
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self.blackboard.register_key("read_only_key", access=Access.READ)
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def process(self):
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self.status = Status.SUCCESS
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log.info(f"process: {self.name}, status: {self.status}, test_key: {self.blackboard.test_key}")
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def update(self):
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return self.status
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class ActionTestBlackboard1(ReleaseFlowAction):
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"""测试Blackboard功能的Action节点"""
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def __init__(self, name: str, description: str = ""):
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super().__init__(name, description)
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self.blackboard.require_key("test_key")
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def process(self):
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self.status = Status.SUCCESS
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log.info(f"process: {self.name}, status: {self.status}, test_key: {self.blackboard.test_key}")
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def update(self):
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return self.status
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@pytest.fixture
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def builder():
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"""创建ReleaseFlowBuilder实例的fixture"""
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return ReleaseFlowBuilder()
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def test_single_action():
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"""测试单个Action节点的执行"""
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action = ActionTest("test_action", Status.SUCCESS)
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action.setup()
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assert action.setup_called
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action.tick_once()
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assert action.process_called
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assert action.status == Status.SUCCESS
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action.shutdown()
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assert action.shutdown_called
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def test_sequence(builder):
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"""测试Sequence节点的执行"""
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success_action = ActionTest("success_action", Status.SUCCESS)
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failure_action = ActionTest("failure_action", Status.FAILURE)
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with builder.sequence("test_sequence") as b:
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b.action(success_action)
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b.action(failure_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert failure_action.process_called
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assert flow.status == Status.FAILURE
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assert success_action.process_called
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def test_selector(builder):
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"""测试Selector节点的执行"""
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failure_action = ActionTest("failure_action", Status.FAILURE)
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success_action = ActionTest("success_action", Status.SUCCESS)
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with builder.selector("test_selector") as b:
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b.action(failure_action)
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b.action(success_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert failure_action.process_called
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assert success_action.process_called
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def test_blackboard():
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"""测试Blackboard功能"""
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action = ActionTestBlackboard("test_blackboard")
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action1 = ActionTestBlackboard1("test_blackboard_read")
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# 测试写入权限
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action.blackboard.test_key = "test_value"
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# 测试共享
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assert action1.blackboard.test_key == "test_value"
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# 测试只读权限
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with pytest.raises(AttributeError):
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action.blackboard.read_only_key = "new_value"
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# 测试必需key
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with pytest.raises(AttributeError):
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_ = action.blackboard.required_key
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def test_parallel(builder):
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"""测试Parallel节点的执行"""
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success_action1 = ActionTest("success_action1", Status.SUCCESS)
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success_action2 = ActionTest("success_action2", Status.SUCCESS)
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failure_action = ActionTest("failure_action", Status.FAILURE)
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with builder.parallel("test_parallel") as b:
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b.action(success_action1)
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b.action(success_action2)
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b.action(failure_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.FAILURE
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assert success_action1.process_called
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assert success_action2.process_called
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assert failure_action.process_called
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def test_nested_behavior_tree(builder):
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"""测试嵌套的行为树结构"""
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success_action1 = ActionTest("success_action1", Status.SUCCESS)
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success_action2 = ActionTest("success_action2", Status.SUCCESS)
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failure_action = ActionTest("failure_action", Status.FAILURE)
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with builder.sequence("root_sequence") as b:
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with b.selector("nested_selector") as s:
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s.action(failure_action)
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s.action(success_action1)
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b.action(success_action2)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert failure_action.process_called
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assert success_action1.process_called
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assert success_action2.process_called
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def test_parallel_success_on_all(builder):
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"""测试并行节点SuccessOnAll策略"""
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success_action1 = ActionTest("success_action1", Status.SUCCESS)
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success_action2 = ActionTest("success_action2", Status.SUCCESS)
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success_action3 = ActionTest("success_action3", Status.SUCCESS)
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with builder.parallel("test_parallel_success_on_all") as b:
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b.action(success_action1)
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b.action(success_action2)
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b.action(success_action3)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert success_action1.process_called
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assert success_action2.process_called
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assert success_action3.process_called
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def test_parallel_success_on_one(builder):
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"""测试并行节点SuccessOnOne策略"""
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from thirdparty.py_trees.common import ParallelPolicy
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running_action1 = ActionTest("running_action1", Status.RUNNING)
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success_action = ActionTest("success_action", Status.SUCCESS)
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running_action2 = ActionTest("running_action2", Status.RUNNING)
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with builder.parallel("test_parallel_success_on_one",
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policy=ParallelPolicy.SuccessOnOne()) as b:
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b.action(running_action1)
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b.action(success_action)
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b.action(running_action2)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert running_action1.process_called
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assert success_action.process_called
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assert running_action2.process_called
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def test_multiple_executions(builder):
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"""测试行为树的多次执行"""
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action1 = ActionTest("action1", Status.SUCCESS)
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action2 = ActionTest("action2", Status.SUCCESS)
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with builder.sequence("test_multiple_executions") as b:
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b.action(action1)
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b.action(action2)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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# 第一次执行
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert action1.process_called
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assert action2.process_called
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# 重置状态
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action1.process_called = False
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action2.process_called = False
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# 第二次执行
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert action1.process_called
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assert action2.process_called
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def test_error_handling(builder):
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"""测试行为树的错误处理"""
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# 测试空的行为树
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with pytest.raises(Exception) as excinfo:
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builder.build()
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assert "No nodes added to behavior tree" in str(excinfo.value)
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# 测试未闭合的节点
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with pytest.raises(Exception) as excinfo:
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with builder.sequence("unclosed_sequence") as b:
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b.action(ActionTest("action", Status.SUCCESS))
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b.action(ActionTest("action", Status.SUCCESS))
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# 不调用end()或使用with语句的__exit__
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builder.build()
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assert "Unclosed nodes" in str(excinfo.value)
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class ActionWithError(ReleaseFlowAction):
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"""测试异常处理的Action节点"""
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def __init__(self, name: str, description: str = ""):
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super().__init__(name, description)
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self.process_called = False
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def process(self):
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self.process_called = True
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raise Exception("测试异常")
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def update(self):
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return Status.FAILURE
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def test_action_exception_handling(builder):
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"""测试Action节点异常处理"""
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error_action = ActionWithError("error_action")
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with builder.sequence("test_error_handling") as b:
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b.action(error_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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# 执行时应该捕获异常并返回FAILURE状态
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tree.tick()
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assert error_action.process_called
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assert flow.status == Status.FAILURE
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def test_decorator():
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"""测试ReleaseFlowActionDecorator装饰器"""
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@ReleaseFlowActionDecorator
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class DecoratedAction(ReleaseFlowAction):
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def process(self):
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self.status = Status.SUCCESS
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def update(self):
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return self.status
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# 测试自动生成名称
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action1 = DecoratedAction()
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assert action1.name == f"{Path(__file__).stem}.DecoratedAction"
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# 测试自定义名称
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action2 = DecoratedAction(name="custom_name")
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assert action2.name == "custom_name"
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# 测试功能
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action2.setup()
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action2.tick_once()
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assert action2.status == Status.SUCCESS
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def test_complex_behavior_tree(builder):
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"""测试复杂的行为树结构"""
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success_action1 = ActionTest("success_action1", Status.SUCCESS)
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success_action2 = ActionTest("success_action2", Status.SUCCESS)
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failure_action1 = ActionTest("failure_action1", Status.FAILURE)
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success_action3 = ActionTest("success_action3", Status.SUCCESS)
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with builder.sequence("root") as b:
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with b.parallel("parallel_group") as p:
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p.action(success_action1)
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p.action(success_action2)
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with b.selector("selector_group") as s:
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s.action(failure_action1)
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s.action(success_action3)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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tree.tick()
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assert flow.status == Status.SUCCESS
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assert success_action1.process_called
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assert success_action2.process_called
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assert failure_action1.process_called
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assert success_action3.process_called
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def test_blackboard_advanced():
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"""测试Blackboard的高级功能"""
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class ActionWrite(ReleaseFlowAction):
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def __init__(self, name: str, description: str = ""):
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super().__init__(name, description)
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self.blackboard.register_key("counter", access=Access.WRITE)
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self.blackboard.counter = 0
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def process(self):
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self.blackboard.counter += 1
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self.status = Status.SUCCESS
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def update(self):
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return self.status
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class ActionRead(ReleaseFlowAction):
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def __init__(self, name: str, description: str = ""):
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super().__init__(name, description)
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self.blackboard.register_key("counter", access=Access.READ)
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self.value = 0
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def process(self):
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self.value = self.blackboard.counter
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self.status = Status.SUCCESS
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def update(self):
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return self.status
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# 创建动作节点
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write_action = ActionWrite("write_action")
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read_action = ActionRead("read_action")
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# 设置初始值
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write_action.blackboard.counter = 10
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# 测试读取
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assert read_action.blackboard.counter == 10
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# 测试写入
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write_action.blackboard.counter = 20
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assert read_action.blackboard.counter == 20
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# 测试只读权限
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with pytest.raises(AttributeError):
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read_action.blackboard.counter = 30
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def test_action_exception_handling_with_sequence(builder):
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"""测试Action节点异常处理后行为树继续执行的能力"""
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error_action = ActionWithError("error_action")
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success_action = ActionTest("success_action", Status.SUCCESS)
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with builder.sequence("test_error_handling_sequence") as b:
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b.action(error_action)
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b.action(success_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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# 执行时应该捕获异常并返回FAILURE状态，但不会中断行为树的执行
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tree.tick()
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# 验证error_action被标记为已处理
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assert error_action.process_called
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# 验证序列节点状态为FAILURE（因为第一个节点失败）
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assert flow.status == Status.FAILURE
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# 验证success_action没有被执行（因为序列节点在第一个节点失败后停止）
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assert not success_action.process_called
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def test_action_exception_handling_with_selector(builder):
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"""测试Action节点异常处理后选择器继续尝试其他节点"""
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error_action = ActionWithError("error_action")
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success_action = ActionTest("success_action", Status.SUCCESS)
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with builder.selector("test_error_handling_selector") as b:
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b.action(error_action)
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b.action(success_action)
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flow = builder.build()
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tree = BehaviourTree(root=flow)
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tree.setup()
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# 执行时应该捕获异常并继续尝试下一个节点
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tree.tick()
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# 验证error_action被标记为已处理
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assert error_action.process_called
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# 验证success_action被执行
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assert success_action.process_called
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# 验证选择器节点状态为SUCCESS（因为第二个节点成功）
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assert flow.status == Status.SUCCESS
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