|
1
|
|
|
"""Control function definition.""" |
|
2
|
|
|
from typing import Any, List, Optional |
|
3
|
|
|
|
|
4
|
|
|
from .definition import FAILURE, SUCCESS, AsyncInnerFunction, CallableFunction, node_metadata |
|
5
|
|
|
from .utils import to_async |
|
6
|
|
|
|
|
7
|
|
|
__all__ = ['sequence', 'fallback', 'selector', 'decision', 'repeat_until'] |
|
8
|
|
|
|
|
9
|
|
|
|
|
10
|
|
|
def sequence(children: List[CallableFunction], succes_threshold: Optional[int] = None) -> AsyncInnerFunction: |
|
11
|
|
|
"""Return a function which execute children in sequence. |
|
12
|
|
|
|
|
13
|
|
|
succes_threshold parameter generalize traditional sequence/fallback and |
|
14
|
|
|
must be in [0, len(children)]. Default value is (-1) means len(children) |
|
15
|
|
|
|
|
16
|
|
|
if #success = succes_threshold, return a success |
|
17
|
|
|
|
|
18
|
|
|
if #failure = len(children) - succes_threshold, return a failure |
|
19
|
|
|
|
|
20
|
|
|
What we can return as value and keep sematic Failure/Success: |
|
21
|
|
|
- an array of previous result when success |
|
22
|
|
|
- last failure when fail |
|
23
|
|
|
|
|
24
|
|
|
Args: |
|
25
|
|
|
children (List[CallableFunction]): list of Awaitable |
|
26
|
|
|
succes_threshold (int): succes threshold value |
|
27
|
|
|
|
|
28
|
|
|
Returns: |
|
29
|
|
|
(AsyncInnerFunction): an awaitable function. |
|
30
|
|
|
|
|
31
|
|
|
Raises: |
|
32
|
|
|
(AssertionError): if succes_threshold is invalid |
|
33
|
|
|
""" |
|
34
|
|
|
_succes_threshold = succes_threshold or len(children) |
|
35
|
|
|
if not (0 <= _succes_threshold <= len(children)): |
|
36
|
|
|
raise AssertionError('succes_threshold') |
|
37
|
|
|
|
|
38
|
|
|
failure_threshold = len(children) - _succes_threshold + 1 |
|
39
|
|
|
|
|
40
|
|
|
_children = [to_async(child) for child in children] |
|
41
|
|
|
|
|
42
|
|
|
@node_metadata(properties=['_succes_threshold']) |
|
43
|
|
|
async def _sequence(): |
|
44
|
|
|
success = 0 |
|
45
|
|
|
failure = 0 |
|
46
|
|
|
results = [] |
|
47
|
|
|
|
|
48
|
|
|
for child in _children: |
|
49
|
|
|
last_result = await child() |
|
50
|
|
|
results.append(last_result) |
|
51
|
|
|
|
|
52
|
|
|
if bool(last_result): |
|
53
|
|
|
success += 1 |
|
54
|
|
|
if success == _succes_threshold: |
|
55
|
|
|
# last evaluation is a success |
|
56
|
|
|
return results |
|
57
|
|
|
else: |
|
58
|
|
|
failure += 1 |
|
59
|
|
|
if failure == failure_threshold: |
|
60
|
|
|
# last evaluation is a failure |
|
61
|
|
|
return last_result |
|
62
|
|
|
# should be never reached |
|
63
|
|
|
return FAILURE |
|
64
|
|
|
|
|
65
|
|
|
return _sequence |
|
66
|
|
|
|
|
67
|
|
|
|
|
68
|
|
|
def fallback(children: List[CallableFunction]) -> AsyncInnerFunction: |
|
69
|
|
|
"""Execute tasks in sequence and succeed if one succeed or failed if all failed. |
|
70
|
|
|
|
|
71
|
|
|
Often named 'selector', children can be seen as an ordered list |
|
72
|
|
|
starting from higthest priority to lowest priority. |
|
73
|
|
|
|
|
74
|
|
|
Args: |
|
75
|
|
|
children (List[CallableFunction]): list of Awaitable |
|
76
|
|
|
|
|
77
|
|
|
Returns: |
|
78
|
|
|
(AsyncInnerFunction): an awaitable function. |
|
79
|
|
|
""" |
|
80
|
|
|
|
|
81
|
|
|
return node_metadata(name='fallback')(sequence(children, succes_threshold=min(1, len(children)))) |
|
82
|
|
|
|
|
83
|
|
|
|
|
84
|
|
|
def selector(children: List[CallableFunction]) -> AsyncInnerFunction: |
|
85
|
|
|
"""Synonym of fallback.""" |
|
86
|
|
|
return node_metadata(name='selector')(fallback(children)) |
|
87
|
|
|
|
|
88
|
|
|
|
|
89
|
|
|
def decision( |
|
90
|
|
|
condition: CallableFunction, success_tree: CallableFunction, failure_tree: Optional[CallableFunction] = None |
|
91
|
|
|
) -> AsyncInnerFunction: |
|
92
|
|
|
"""Create a decision node. |
|
93
|
|
|
|
|
94
|
|
|
If condition is meet, return evaluation of success_tree. |
|
95
|
|
|
Otherwise, it return SUCCESS or evaluation of failure_tree if setted. |
|
96
|
|
|
|
|
97
|
|
|
Args: |
|
98
|
|
|
condition (CallableFunction): awaitable condition |
|
99
|
|
|
success_tree (CallableFunction): awaitable success tree which be |
|
100
|
|
|
evaluated if cond is Truthy |
|
101
|
|
|
failure_tree (CallableFunction): awaitable failure tree which be |
|
102
|
|
|
evaluated if cond is Falsy (None per default) |
|
103
|
|
|
|
|
104
|
|
|
Returns: |
|
105
|
|
|
(AsyncInnerFunction): an awaitable function. |
|
106
|
|
|
""" |
|
107
|
|
|
|
|
108
|
|
|
_condition = to_async(condition) |
|
109
|
|
|
_success_tree = to_async(success_tree) |
|
110
|
|
|
_failure_tree = to_async(failure_tree) if failure_tree else None |
|
111
|
|
|
|
|
112
|
|
|
@node_metadata(edges=['_condition', '_success_tree', '_failure_tree']) |
|
113
|
|
|
async def _decision(): |
|
114
|
|
|
if bool(await _condition()): |
|
115
|
|
|
return await _success_tree() |
|
116
|
|
|
if _failure_tree: |
|
117
|
|
|
return await _failure_tree() |
|
118
|
|
|
return SUCCESS |
|
119
|
|
|
|
|
120
|
|
|
return _decision |
|
121
|
|
|
|
|
122
|
|
|
|
|
123
|
|
|
def repeat_until(condition: CallableFunction, child: CallableFunction) -> AsyncInnerFunction: |
|
124
|
|
|
"""Repeat child evaluation until condition is truthy. |
|
125
|
|
|
|
|
126
|
|
|
Return last child evaluation or FAILURE if no evaluation occurs. |
|
127
|
|
|
|
|
128
|
|
|
Args: |
|
129
|
|
|
condition (CallableFunction): awaitable condition |
|
130
|
|
|
child (CallableFunction): awaitable child |
|
131
|
|
|
|
|
132
|
|
|
Returns: |
|
133
|
|
|
(AsyncInnerFunction): an awaitable function. |
|
134
|
|
|
""" |
|
135
|
|
|
|
|
136
|
|
|
_child = to_async(child) |
|
137
|
|
|
_condition = to_async(condition) |
|
138
|
|
|
|
|
139
|
|
|
@node_metadata(edges=['_condition', '_child']) |
|
140
|
|
|
async def _repeat_until(): |
|
141
|
|
|
result: Any = FAILURE |
|
142
|
|
|
while bool(await _condition()): |
|
143
|
|
|
result = await _child() |
|
144
|
|
|
|
|
145
|
|
|
return result |
|
146
|
|
|
|
|
147
|
|
|
return _repeat_until |
|
148
|
|
|
|
geronimo-iia /
async-btree
