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erichlferichlf
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Merge pull request #14 from sam-xl/string_bool_fix
Fix reading string booleans
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12 files changed

+52
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‎README.md‎

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@@ -52,10 +52,6 @@ and should be evaluated as code. For a concrete example see below:
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In the above example the `qos_profile` is evaluated as python code. Notice to
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use any python module you must use the fully qualified name.
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note: Boolean values should be considered python as checking the truth of a
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python string will always be evaluated as `True`, e.g. `if "False":` will evaluate
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to `True`.
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### Idioms
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Idioms are also now supported. An idiom is a special function that produces
@@ -79,14 +75,14 @@ Create an XML file that represents your behavior tree. The XML structure should
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define the nodes and their attributes. It should be similar to the following:
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```xml
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<py_trees.composites.Parallel name="TutorialOne" synchronise="$(False)">
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<py_trees.composites.Sequence name="Topics2BB" memory="$(False)">
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<py_trees.composites.Parallel name="TutorialOne" synchronise="False">
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<py_trees.composites.Sequence name="Topics2BB" memory="False">
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<py_trees_ros.battery.ToBlackboard name="Battery2BB"
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topic_name="/battery/state"
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qos_profile="$(py_trees_ros.utilities.qos_profile_unlatched())"
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threshold="30.0" />
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</py_trees.composites.Sequence>
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<py_trees.composites.Selector name="Tasks" memory="$(False)">
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<py_trees.composites.Selector name="Tasks" memory="False">
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<py_trees.behaviours.Running name="Idle" />
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<py_trees.behaviours.Periodic name="Flip Eggs" n="2" />
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</py_trees.composites.Selector>
@@ -162,7 +158,7 @@ another subtree. However, be aware that the all directories are absolute, but it
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is possible to use python to determine the path like so:
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```xml
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<py_trees.composites.Parallel name="Subtree Tutorial" synchronise="$(False)">
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<py_trees.composites.Parallel name="Subtree Tutorial" synchronise="False">
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<subtree
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name="my_subtree"
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include="$(os.path.join(ament_index_python.packages.get_package_share_directory('my_package'), 'tree', 'subtree.xml'))" />
@@ -222,4 +218,4 @@ and finally in subtree2
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<py_trees.composites.Sequence name="Cascading Arg Tutorial">
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<py_trees.behaviors.Success name="${baz}" />
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</py_trees.composites.Sequence>
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```
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```

‎py_trees_parser/parser.py‎

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@@ -59,6 +59,22 @@ def is_float(value: str) -> bool:
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return False
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def is_bool(value: str) -> bool:
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"""
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Check if a string is a boolean type, i.e. True or False.
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Args:
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----
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value: The string to check.
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Returns:
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-------
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True if the string is "true", "True", "false", or "False", False otherwise.
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"""
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return value.lower() == "true" or value.lower() == "false"
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def is_code(value: str) -> bool:
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"""
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Check if a string is intended to be code.
@@ -244,6 +260,8 @@ def _string_num_or_code(self, value: str) -> Any:
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value = int(value)
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elif is_float(value):
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value = float(value)
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elif is_bool(value):
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value = value.lower() == "true"
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elif is_code(value):
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value = self._parse_code(value)
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‎test/data/test1.xml‎

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@@ -2,13 +2,13 @@
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https://py-trees-ros-tutorials.readthedocs.io/en/release-2.1.x/tutorials.html#tree -->
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<py_trees.composites.Parallel name="TutorialOne"
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policy="$(py_trees.common.ParallelPolicy.SuccessOnAll(synchronise=False))">
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<py_trees.composites.Sequence name="Topics2BB" memory="$(False)">
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<py_trees.composites.Sequence name="Topics2BB" memory="False">
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<py_trees_ros.battery.ToBlackboard name="Battery2BB"
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topic_name="/battery/state"
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qos_profile="$(py_trees_ros.utilities.qos_profile_unlatched())"
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threshold="30.0" />
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</py_trees.composites.Sequence>
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<py_trees.composites.Selector name="Tasks" memory="$(False)">
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<py_trees.composites.Selector name="Tasks" memory="False">
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<py_trees.behaviours.Running name="Idle" />
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<py_trees.behaviours.Periodic name="Flip Eggs" n="2" />
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</py_trees.composites.Selector>

‎test/data/test6.xml‎

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@@ -2,24 +2,24 @@
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https://py-trees-ros-tutorials.readthedocs.io/en/release-2.1.x/tutorials.html#id13 -->
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<py_trees.composites.Parallel name="TutorialSix"
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policy="$(py_trees.common.ParallelPolicy.SuccessOnAll(synchronise=False))">
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<py_trees.composites.Sequence name="Topics2BB" memory="$(False)">
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<py_trees.composites.Sequence name="Topics2BB" memory="False">
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<py_trees_ros.subscribers.EventToBlackboard name="Scan2BB"
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topic_name="/dashboard/scan"
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qos_profile="$(py_trees_ros.utilities.qos_profile_unlatched())"
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variable_name="event_scan_button" />
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<py_trees_ros.battery.ToBlackboard name="Battery2BB" topic_name="/battery/state"
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qos_profile="py_trees_ros.utilities.qos_profile_unlatched()" threshold="30.0" />
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</py_trees.composites.Sequence>
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<py_trees.composites.Selector name="Tasks" memory="$(False)">
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<py_trees.composites.Selector name="Tasks" memory="False">
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<py_trees.decorators.EternalGuard name="Battery Low?"
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condition="$(py_trees_parser.behaviors.testing_behaviors.check_battery_low_on_blackboard)"
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blackboard_keys="$({'battery_low_warning'})">
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<py_trees_parser.behaviors.testing_behaviors.FlashLedStrip name="Flash Red" colour="red" />
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</py_trees.decorators.EternalGuard>
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<py_trees.composites.Sequence name="Scan" memory="$(False)">
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<py_trees.composites.Sequence name="Scan" memory="False">
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<py_trees.behaviours.CheckBlackboardVariableValue name="Scan?"
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check="$(py_trees.common.ComparisonExpression(variable='event_scan_button', value=True, operator=operator.eq))" />
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<py_trees.composites.Selector name="Preempt?" memory="$(False)">
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<py_trees.composites.Selector name="Preempt?" memory="False">
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<py_trees.decorators.SuccessIsRunning name="SuccessIsRunning">
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<py_trees.behaviours.CheckBlackboardVariableValue name="Scan?"
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check="$(py_trees.common.ComparisonExpression(variable='event_scan_button', value=True, operator=operator.eq))" />

‎test/data/test_arg_substitution.xml‎

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@@ -1,6 +1,6 @@
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<py_trees.composites.Selector name="Argument Substitution Test" memory="$(False)">
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<py_trees.composites.Selector name="Argument Substitution Test" memory="False">
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<py_trees.behaviours.Running name="prefix_${arg1}_suffix" />
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<py_trees.behaviours.Success name="task_${arg2}_complete" />
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<py_trees.behaviours.Periodic name="periodic_${arg3}" n="${n}" />
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<py_trees.behaviours.Success name="multiple_${arg1}_and_${arg2}_args" />
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</py_trees.composites.Selector>
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</py_trees.composites.Selector>

‎test/data/test_arg_substitution_main.xml‎

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@@ -3,4 +3,4 @@
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<arg name="arg2" value="value2" />
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<arg name="arg3" value="value3" />
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<arg name="n" value="3" />
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</subtree>
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</subtree>

‎test/data/test_bool.xml‎

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@@ -0,0 +1,5 @@
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<py_trees.composites.Sequence name="No Memory" memory="False">
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<py_trees.composites.Sequence name="Memory" memory="True">
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<py_trees.behaviours.Success name="Feature 1" />
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</py_trees.composites.Sequence>
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</py_trees.composites.Sequence>

‎test/data/test_idioms.xml‎

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@@ -1,4 +1,4 @@
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<py_trees.composites.Sequence name="Idioms" memory="$(False)">
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<py_trees.composites.Sequence name="Idioms" memory="False">
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<py_trees.idioms.oneshot name="OneShot"
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variable_name="one_shot"
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policy="$(py_trees.common.OneShotPolicy)">

‎test/data/test_subtree_args.xml‎

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@@ -1,4 +1,4 @@
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<py_trees.composites.Selector name="${selector_name}" memory="$(False)">
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<py_trees.composites.Selector name="${selector_name}" memory="False">
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<py_trees.behaviours.Running name="${idle_name}" />
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<py_trees.behaviours.Periodic name="${flip_name}" n="${n}" />
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</py_trees.composites.Selector>

‎test/data/test_subtree_main.xml‎

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@@ -1,6 +1,6 @@
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<py_trees.composites.Parallel name="SubtreeMain"
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policy="$(py_trees.common.ParallelPolicy.SuccessOnAll(synchronise=False))">
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<py_trees.composites.Sequence name="Topics2BB" memory="$(False)">
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<py_trees.composites.Sequence name="Topics2BB" memory="False">
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<py_trees_ros.battery.ToBlackboard name="Battery2BB" topic_name="/battery/state"
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qos_profile="$(py_trees_ros.utilities.qos_profile_unlatched())" threshold="30.0" />
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</py_trees.composites.Sequence>

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