Added an override of setLastOutput to square.py. Added some pre-built queries into the BQS.

Modified the default behavior or setLastOutput to make a deep copy of ouput to prevent accidental
interference.

4 files changed, 46 insertions, 4 deletions

diff --git a/behaviors/Square.py b/behaviors/Square.py
index 9d3223a..5fdaeef 100644
--- a/behaviors/Square.py
+++ b/behaviors/Square.py
@@ -7,6 +7,7 @@ class Square(Behavior):
 
     def processResponse(self, sensorInputs, recursiveInputs):
         for sensory in sensorInputs:#TODO: consider replicating the dict
+            sensory['CenterLoc'] = list(sensory['Location'])
             xLoc = sensory['Location'][0]
             yLoc = sensory['Location'][1]
             width = self['Width']
@@ -15,3 +16,9 @@ class Square(Behavior):
                 '{x}<'+str(xLoc+width)+',{x}>'+str(xLoc-width)+\
                 ',{y}<'+str(yLoc+width)+',{y}>'+str(yLoc-width)
         return (sensorInputs, recursiveInputs)
+
+    def setLastOutput(self, output):
+        coutput = Behavior.deepCopyPacket(output)
+        for data in coutput:
+            data['Location'] = data['CenterLoc']
+        return coutput
diff --git a/operationscore/Behavior.py b/operationscore/Behavior.py
index 7090a23..349c4cf 100644
--- a/operationscore/Behavior.py
+++ b/operationscore/Behavior.py
@@ -12,6 +12,7 @@ class Behavior(SmootCoreObject):
     specifically designed to do this (like AddPixelEvent). 
     timeStep is called on every iteration of the LightInstallation
     addInput is called on each individual input received, and the inputs queue"""
+    
     def init(self):
         self.validateArgs('Behavior.params')
         if type(self['Inputs']) != type([]):
@@ -21,34 +22,55 @@ class Behavior(SmootCoreObject):
         self.outGoingQueue = []
         self.lastState = None
         self.behaviorInit()
+    
     def behaviorInit(self):
         pass
+    
     def addMapper(fn):
         def withmap(fn):
             return self.addMapperToResponse(fn())
         return withmap
+    
     def processResponse(self, sensorInputs, recursiveInputs):
         raise Exception('ProcessResponse not defined!')
+    
     def addInput(self, sensorInput):
         self.sensorResponseQueue.append(sensorInput)
+    
     #used for behavior chaining
+    
     def immediateProcessInput(self, sensorInputs, recursiveInputs=[]): 
             (outputs,recursions) = self.processResponse(sensorInputs, \
                     recursiveInputs)
             return self.addMapperToResponse((outputs,recursions))
+
     def addInputs(self, sensorInputs):
         if type(sensorInputs) == type([]):
             [self.addInput(sensorInput) for sensorInput in sensorInputs]
         else:
             self.addInput(sensorInputs)
-    #private
+   
+    @staticmethod 
+    def deepCopyPacket(self, datapacket):
+        """Returns a deep copy of a behavior data packet (a list of dicts) so that modifying the
+        returned packet will not modify the incoming packet."""
+        ret = []
+        for d in datapacket:
+            d = dict(d)
+            ret.append[d]
+        return ret
+    
     def getLastOutput(self):
         return self.lastState
+    
     def setLastOutput(self, output):
         """Override to modify state.  For example: if you are using a behavior that does uses
         strings for location specification, you will want to override this to point to a single
-        location.  Make sure you keep lastState as a [] of {}.  (List of dicts)"""
-        self.lastState = output
+        location.  Make sure you keep lastState as a [] of {}.  (List of dicts).  Additonally,
+        ensure that you call Behavior.deepCopyPacket on the packet before hand to avoid inadvertent
+        down-stream modifications.  Look at Square.py for an example of this."""
+        self.lastState = Behavior.deepCopyPacket(output)
+    
     def addMapperToResponse(self, responses):
         if self['Mapper'] != None:
             if type(responses) == type(tuple):
@@ -59,11 +81,14 @@ class Behavior(SmootCoreObject):
                         r['Mapper'] = self['Mapper']
                     return responses
         return responses
+    
     def timeStep(self): #TODO: type checking.  clean this up
         (outputs, recursions) = self.processResponse(self.sensorResponseQueue, \
                 self.recursiveResponseQueue)
         self.sensorResponseQueue = []
         self.recursiveResponseQueue = recursions 
         self.setLastOutput(outputs)
+        if outputs != []:
+            pdb.set_trace()
         main_log.debug(self['Id'] + ' Ouputs ' + str(outputs))
         return self.addMapperToResponse(outputs)
diff --git a/tests/TestBQS.py b/tests/TestBQS.py
index 7316c31..c46b917 100644
--- a/tests/TestBQS.py
+++ b/tests/TestBQS.py
@@ -13,13 +13,16 @@ class TestBQS(unittest.TestCase):
         c.addInput({'Location':(5,12)})
         b.timeStep()
         c.timeStep()
+
     def tearDown(self):
         bqs.initBQS()
+
     def test_simple_query(self):
         validQuery = lambda args:args['Color']==(255,0,0)
         invalidQuery = lambda args:args['Color']==(254,0,0)
         assert bqs.query(validQuery) == [{'Color':(255,0,0), 'Location':(3,4)}]
         assert bqs.query(invalidQuery) == []
+
     def test_dist_query(self):
         validDist = lambda args:geo.dist(args['Location'], (0,0)) <= 5
         invalidDist = lambda args:geo.dist(args['Location'], (0,0)) <= 2
@@ -30,7 +33,6 @@ class TestBQS(unittest.TestCase):
         assert bqs.query(doubleDist) == [{'Color':(255,0,0), 'Location':(3,4)}, {'Color':(0,0,255),\
                                          'Location':(5,12)}] 
     def test_complex_queries(self):
-
         validQuery = lambda args:args['Color']==(255,0,0)
         doubleDist = lambda args:geo.dist(args['Location'], (0,0)) <= 20
         
diff --git a/util/BehaviorQuerySystem.py b/util/BehaviorQuerySystem.py
index 643b95c..688eecb 100644
--- a/util/BehaviorQuerySystem.py
+++ b/util/BehaviorQuerySystem.py
@@ -7,6 +7,7 @@ def initBQS():
     initialized = True
 
 def addBehavior(behavior):
+    """Add a behavior to the behavior registry."""
     behaviorList.append(behavior)
 
 def query(predicateList):
@@ -36,4 +37,11 @@ def query(predicateList):
                 ret.append(output)
     return ret 
 
+def getDistLambda(loc, maxDist):
+    """Returns a lambda function that checks if for behaviors within maxDist of loc.  Can be passed
+    in as an arg to query."""
+    return lambda args:geo.dist(args['Location'], loc) <= maxDist
 
+def getBehaviorsNear(loc, maxdist):
+    """A premade method to do the common task of finding behavior near a location."""
+    return query(getDistLambda(loc, maxDist))