clean up repo

.vscode/settings.json

@@ -2,11 +2,12 @@
     "editor.formatOnSave": true,
     "black-formatter.importStrategy": "fromEnvironment",
     "python.testing.pytestArgs": [
-        "."
+        ".",
+        "--doctest-modules"
     ],
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
     "[python]": {
         "editor.defaultFormatter": "ms-python.black-formatter"
     }
-}
+}

atomic_mutations.py

@@ -0,0 +1,222 @@
+from collections import namedtuple
+import inspect
+from functools import partial, wraps
+import logging
+from types import GenericAlias
+from typing import Callable, List, Mapping, NamedTuple, Tuple, TypeVar, Union, Dict
+
+import click
+import typer
+
+from behavior_tree_library import Behavior, Composite, Sequence
+
+from pprint import pprint
+
+_logger = logging.getLogger(__name__)
+
+# =============================================================================
+# Argument types
+# =============================================================================
+
+ExistingNode = TypeVar("ExistingNode", bound=Behavior)
+NewNode = TypeVar("NewNode", bound=Behavior)
+CompositeIndex = TypeVar(
+    "CompositeIndex", bound=Tuple[Composite, int]
+)
+BehaviorIdentifier = TypeVar(
+    "BehaviorIdentifier", bound=Union[ExistingNode, NewNode, CompositeIndex]
+)
+BehaviorTreeNode = TypeVar("BehaviorTreeNode", bound=Behavior)
+BehaviorTree = TypeVar("BehaviorTree", bound=BehaviorTreeNode)
+BehaviorLibrary = TypeVar("BehaviorLibrary", bound=List[BehaviorTreeNode])
+TreeOrLibrary = TypeVar("TreeOrLibrary", bound=Union[BehaviorTree, BehaviorLibrary])
+
+
+# =============================================================================
+# Atomic operations
+# =============================================================================
+
+# The very top line of each operation's docstring is used as the
+# description of the operation in the UI, so it's required.
+# The argument annotations are vital, because they tell the UI which prompt
+# to use.
+
+#TODO: pass in the parent node, and do the action on the parent node directly.
+def remove(node: ExistingNode, parent: Composite) -> ExistingNode:
+    """Remove a node.
+    Examples:
+        >>> success_node = Behavior(name="Success")
+        >>> failure_node = Behavior(name="Failure")
+
+        >>> tree = Sequence("")
+        >>> tree.add_child(success_node)
+        >>> tree.add_child(failure_node)
+
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+              children=[Behavior(name='Success', id=None),
+                        Behavior(name='Failure', id=None)])
+        
+        >>> removed = remove(failure_node, tree)
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+              children=[Behavior(name='Success', id=None)])
+    """
+    parent.remove_child(node)
+    return node
+
+
+def insert(node: NewNode, where: CompositeIndex) -> None:
+    """Insert a new node.
+    Examples:
+        >>> success_node = Behavior(name="Success")
+        >>> tree = Sequence("", children=[success_node])
+
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+              children=[Behavior(name='Success', id=None)])
+
+        >>> failure_node = Behavior(name="Failure")
+        >>> insert(failure_node, (tree, 1))
+
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+              children=[Behavior(name='Success', id=None),
+                        Behavior(name='Failure', id=None)])
+
+        >>> dummy_node = Behavior(name="Dummy")
+        >>> insert(dummy_node, (tree, 0))
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+            children=[Behavior(name='Dummy', id=None),
+                    Behavior(name='Success', id=None),
+                    Behavior(name='Failure', id=None)])
+    """
+
+    parent, index = where
+    parent.insert_child(index, node)
+    return
+
+
+def move(
+    node: ExistingNode,
+    where: CompositeIndex,
+) -> None:
+    """Move a node.
+    Examples:
+
+        >>> success_node = Behavior(name="Success")
+        >>> failure_node = Behavior(name="Failure")
+
+        >>> tree = Sequence("")
+        >>> tree.add_child(success_node)
+        >>> tree.add_child(failure_node)
+
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+            children=[Behavior(name='Success', id=None),
+                    Behavior(name='Failure', id=None)])
+        
+        >>> move(failure_node, (tree, 0))
+        >>> pprint(tree)
+        ... # doctest: +NORMALIZE_WHITESPACE
+        Sequence(name='',
+            children=[Behavior(name='Failure', id=None),
+                    Behavior(name='Success', id=None)])
+    """
+    parent, index = where
+    insert(remove(node, parent), (parent, index))
+    return
+
+
+
+# # # =============================================================================
+# # # Node and Position Selectors
+# # # =============================================================================
+
+from typing import Union, Generator
+
+def iterate_nodes(tree: Union[Behavior, Sequence]):
+    """
+    Examples:
+        >>> dummy_node = Behavior(name="Dummy")
+
+        >>> list(iterate_nodes(dummy_node))
+        ... # doctest: +ELLIPSIS
+        [Behavior(name='Dummy', id=None)]
+
+        >>> sequence = Sequence("", children=[dummy_node])
+        >>> pprint(list(iterate_nodes(sequence)))
+        ... # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [Sequence(name='', children=[Behavior(name='Dummy', id=None)]),
+        Behavior(name='Dummy', id=None)]
+
+        >>> dummy_node_2 = Behavior(name="Dummy")
+        >>> dummy_node_3 = Behavior(name="Dummy")
+        >>> sequence_2 = Sequence("", children=[dummy_node_3])
+        >>> sequence_3 = Sequence("", children=[dummy_node, dummy_node_2, sequence_2])
+        >>> pprint(list(iterate_nodes(sequence_3)))
+        ... # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [Sequence(name='',
+            children=[Behavior(name='Dummy', id=None),
+                    Behavior(name='Dummy', id=None),
+                    Sequence(name='',
+                                children=[Behavior(name='Dummy', id=None)])]),
+        Behavior(name='Dummy', id=None),
+        Behavior(name='Dummy', id=None),
+        Sequence(name='', children=[Behavior(name='Dummy', id=None)]),
+        Behavior(name='Dummy', id=None)]
+        """
+    yield tree
+
+    # Check if the node is a Sequence and has children to iterate over
+    if hasattr(tree, "children"):
+        for child in tree.children:
+            yield from iterate_nodes(child)
+
+
+def enumerate_nodes(tree: Behavior):
+    """
+    Examples:
+        >>> dummy_node = Behavior(name="Dummy")
+        >>> print(list(enumerate_nodes(dummy_node)))
+        [(0, Behavior(name='Dummy', id=None))]
+
+        >>> sequence = Sequence("", children=[dummy_node])
+        >>> print(list(enumerate_nodes(sequence)))
+        ... # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [(0, Sequence(name='', children=[Behavior(name='Dummy', id=None)])), (1, Behavior(name='Dummy', id=None))]
+
+        >>> success_node = Behavior(name="Success")
+        >>> dummy_node_2 = Behavior(name="Dummy")
+        >>> failure_node = Behavior(name="Failure")
+        >>> success_node_2 = Behavior(name="Success")
+        >>> sequence_2 = Sequence("", children=[dummy_node_2, success_node_2])
+        >>> sequence_3 = Sequence("", children=[failure_node])
+        >>> sequence_1 = Sequence("", children=[success_node, sequence_2, sequence_3])
+        >>> print(list(enumerate_nodes(sequence_1)))
+        ... # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [(0, Sequence(name='', children=[Behavior(name='Success', id=None), Sequence(name='', children=[Behavior(name='Dummy', id=None), Behavior(name='Success', id=None)]), Sequence(name='', children=[Behavior(name='Failure', id=None)])])), (1, Behavior(name='Success', id=None)), (2, Sequence(name='', children=[Behavior(name='Dummy', id=None), Behavior(name='Success', id=None)])), (3, Behavior(name='Dummy', id=None)), (4, Behavior(name='Success', id=None)), (5, Sequence(name='', children=[Behavior(name='Failure', id=None)])), (6, Behavior(name='Failure', id=None))]
+    """
+    return enumerate(iterate_nodes(tree))
+
+
+# # =============================================================================
+# # Utility functions
+# # =============================================================================
+
+
+class QuitException(Exception):
+    pass
+
+
+def end_experiment():
+    """I'm done, end the experiment."""
+    raise QuitException("User ended the experiment.")
+

examples/abstract-experiment.json

@@ -126,4 +126,4 @@
         }
     ],
     "context": "This is a sample paragraph that describes the context of the environment in which the robot is operating. This context might affect the decision making, rendering some actions relevant and others less relevant."
-}
+}

examples/test-resource-file.json

@@ -6,10 +6,11 @@
             "unlock_cabinet",
             "retrieve_medicine"
         ],
-        "behaviour_library": [
+        "behavior_library": [
             {
                 "id": "take_path_to_medicine_cabinet",
-                "name": "take acceptable path to the medicine cabinet"
+                "name": "take acceptable path to the medicine cabinet",
+                "in_behavior_bank": false
             },
             {
                 "id": "unlock_cabinet",
@@ -21,15 +22,18 @@
             },
             {
                 "id": "retrieve_medicine",
-                "name": "retrieve the medicine"
+                "name": "retrieve the medicine",
+                "in_behavior_bank": false
             },
             {
                 "id": "wait_for_cabinet_access",
-                "name": "wait at medicine cabinet until it is accessible"
+                "name": "wait at medicine cabinet until it is accessible",
+                "in_behavior_bank": true
             },
             {
                 "id": "alert_adminstrator",
-                "name": "alert adminstrator for assistance"
+                "name": "alert adminstrator for assistance",
+                "in_behavior_bank": true
             }
         ],
         "interruptions": {
@@ -45,14 +49,16 @@
             "press_correct_floor_button",
             "exit_elevator"
         ],
-        "behaviour_library": [
+        "behavior_library": [
             {
                 "id": "take_path_to_elevator",
-                "name": "take acceptable path to the elevator"
+                "name": "take acceptable path to the elevator",
+                "in_behavior_bank": false
             },
             {
                 "id": "get_into_elevator",
-                "name": "get into the elevator"
+                "name": "get into the elevator",
+                "in_behavior_bank": false
             },
             {
                 "id": "press_correct_floor_button",
@@ -64,11 +70,13 @@
             },
             {
                 "id": "wait_for_elevator_access",
-                "name": "wait at elevator entrance until it is accessible"
+                "name": "wait at elevator entrance until it is accessible",
+                "in_behavior_bank": true
             },
             {
                 "id": "alert_adminstrator",
-                "name": "alert adminstrator for assistance"
+                "name": "alert adminstrator for assistance",
+                "in_behavior_bank": true
             }
         ],
         "interruptions": {