Merge branch 'refactor-mutation-api' into refactor-position-mapping

.vscode/settings.json

@@ -1,10 +1,12 @@
 {
-    "editor.defaultFormatter": "ms-python.black-formatter",
-    "black-formatter.importStrategy": "fromEnvironment",
     "editor.formatOnSave": true,
+    "black-formatter.importStrategy": "fromEnvironment",
     "python.testing.pytestArgs": [
         "."
     ],
     "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true
+    "python.testing.pytestEnabled": true,
+    "[python]": {
+        "editor.defaultFormatter": "ms-python.black-formatter"
+    }
 }

examples/entering-a-room.json

@@ -21,61 +21,61 @@
     "behavior_library": [
         {
             "id": "anonymous-sequence",
-            "display_name": "",
+            "name": "",
             "type": "Sequence",
             "show": false
         },
         {
             "id": "approach-door",
-            "display_name": "Approach the door",
+            "name": "Approach the door",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "open-door",
-            "display_name": "Open the door",
+            "name": "Open the door",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "go-through-doorway",
-            "display_name": "Go through the doorway",
+            "name": "Go through the doorway",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "knock-on-the-door",
-            "display_name": "Knock on the door",
+            "name": "Knock on the door",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "sing-a-song",
-            "display_name": "Sing a song",
+            "name": "Sing a song",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "announce-your-presence",
-            "display_name": "Announce your presence",
+            "name": "Announce your presence",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "contact-supervisor-guidance",
-            "display_name": "Contact supervisor for guidance",
+            "name": "Contact supervisor for guidance",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "stop",
-            "display_name": "Stop",
+            "name": "Stop",
             "type": "Behavior",
             "show": true
         },
         {
             "id": "return-to-charging-station",
-            "display_name": "Return to charging station",
+            "name": "Return to charging station",
             "type": "Behavior",
             "show": false
         }

norms/wsocket.py

@@ -14,5 +14,6 @@ async def main():
     async with serve(echo, "localhost", 8765):
         await asyncio.Future()  # run forever
 
+
 if __name__ == "__main__":
     asyncio.run(main())

pyproject.toml

@@ -123,6 +123,3 @@ version.source = "vcs"
 
 [tool.pytest.ini_options]
 addopts = "--doctest-modules"
-
-[tool.black]
-target-version = ['py311']

src/social_norms_trees/atomic_mutations.py

@@ -24,12 +24,10 @@
 BehaviorIdentifier = TypeVar(
     "BehaviorIdentifier", bound=Union[ExistingNode, NewNode, CompositeIndex]
 )
-BehaviorTreeNode = TypeVar(
-    "BehaviorTreeNode", bound=py_trees.behaviour.Behaviour)
+BehaviorTreeNode = TypeVar("BehaviorTreeNode", bound=py_trees.behaviour.Behaviour)
 BehaviorTree = TypeVar("BehaviorTree", bound=BehaviorTreeNode)
 BehaviorLibrary = TypeVar("BehaviorLibrary", bound=List[BehaviorTreeNode])
-TreeOrLibrary = TypeVar(
-    "TreeOrLibrary", bound=Union[BehaviorTree, BehaviorLibrary])
+TreeOrLibrary = TypeVar("TreeOrLibrary", bound=Union[BehaviorTree, BehaviorLibrary])
 
 
 # =============================================================================
@@ -452,15 +450,11 @@ def get_library_mapping(library: BehaviorLibrary) -> NodeMappingRepresentation:
 
     mapping = {str(i): n for i, n in enumerate(library)}
     labels = list(mapping.keys())
-    representation = "\n".join(
-        [f"{i}: {n.name}" for i, n in enumerate(library)])
+    representation = "\n".join([f"{i}: {n.name}" for i, n in enumerate(library)])
     return NodeMappingRepresentation(mapping, labels, representation)
 
 
-prompt_identify_library_node = partial(
-    prompt_identify,
-    function=get_library_mapping
-)
+prompt_identify_library_node = partial(prompt_identify, function=get_library_mapping)
 
 
 def get_composite_mapping(tree: BehaviorTree, skip_label="_"):
@@ -503,10 +497,7 @@ def get_composite_mapping(tree: BehaviorTree, skip_label="_"):
     return NodeMappingRepresentation(mapping, allowed_labels, representation)
 
 
-prompt_identify_composite = partial(
-    prompt_identify,
-    function=get_composite_mapping
-)
+prompt_identify_composite = partial(prompt_identify, function=get_composite_mapping)
 
 class TreeInsertionState:
     def __init__(self):
@@ -730,10 +721,7 @@ def get_child_index_mapping(tree: BehaviorTree, skip_label="_"):
     return NodeMappingRepresentation(mapping, allowed_labels, representation)
 
 
-prompt_identify_child_index = partial(
-    prompt_identify,
-    function=get_child_index_mapping
-)
+prompt_identify_child_index = partial(prompt_identify, function=get_child_index_mapping)
 
 
 def get_position_mapping(tree):
@@ -778,8 +766,7 @@ def get_position_mapping(tree):
 
 
 # Wrapper functions for the atomic operations which give them a UI.
-MutationResult = namedtuple(
-    "MutationResult", ["result", "tree", "function", "kwargs"])
+MutationResult = namedtuple("MutationResult", ["result", "tree", "function", "kwargs"])
 
 
 def mutate_chooser(*fs: Union[Callable], message="Which action?"):
@@ -804,8 +791,10 @@ def mutate_chooser(*fs: Union[Callable], message="Which action?"):
 
 
 def mutate_ui(
-    f,
-) -> Callable[[py_trees.behaviour.Behaviour, List[py_trees.behaviour.Behaviour]], Dict]:
+    f: Callable,
+) -> Callable[
+    [py_trees.behaviour.Behaviour, List[py_trees.behaviour.Behaviour]], MutationResult
+]:
     """Factory function for a tree mutator UI.
     This creates a version of the atomic function `f`
     which prompts the user for the appropriate arguments
@@ -826,6 +815,7 @@ def f_inner(tree, library):
         return_value = MutationResult(
             result=inner_result, tree=tree, function=f, kwargs=kwargs
         )
+        _logger.debug(return_value)
         return return_value
 
     return f_inner
@@ -853,7 +843,8 @@ def prompt_get_mutate_arguments(annotation: GenericAlias, tree, library):
     elif annotation_ == str(NewNode):
         _logger.debug("in NewNode")
         new_node = prompt_identify_library_node(
-            library, message="Which node from the library?")
+            library, message="Which node from the library?"
+        )
         return new_node
     else:
         _logger.debug("in 'else'")
@@ -870,7 +861,7 @@ class QuitException(Exception):
     pass
 
 
-def end_experiment(*args, **kwargs):
+def end_experiment():
     """I'm done, end the experiment."""
     raise QuitException("User ended the experiment.")
 

src/social_norms_trees/behavior_library.py

@@ -2,6 +2,10 @@ class BehaviorLibrary:
     def __init__(self, behavior_list):
         self.behaviors = behavior_list
         self.behavior_from_display_name = {
-            behavior["display_name"]: behavior for behavior in behavior_list
+            behavior["name"]: behavior for behavior in behavior_list
         }
         self.behavior_from_id = {behavior["id"]: behavior for behavior in behavior_list}
+
+    def __iter__(self):
+        for i in self.behaviors:
+            yield i