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from operationscore.Behavior import *
import util.ComponentRegistry as compReg
from logger import main_log
import pdb
class BehaviorChain(Behavior):
"""BehaviorChain is a class which chains together multiple behavior. BehaviorChain is in itself a
behavior, and behaves and can be used accordingly. BehaviorChain also supports recursive hooks to
be set on its constituent behaviors. ChainedBehaviors should be specified in <Args> as follows:
<ChainedBehaviors>
<Id>behavior1Id</Id>
<Id>behavior2Id</Id>
</ChainedBehaviors>
Behaviors may also be appended programmatically via the appendBehavior method.
Recursive hooks should be specified with Python dict syntax as follows:
<RecursiveHooks>{'behavior1Id':'hookid'}</RecursiveHooks>
Behavior Chain manages all recurrences that its constituents propogate. At this point, it does not
support recurrences in its hooks."""
def behaviorInit(self):
self.feedback = {} #dictionary to allow feedback of recursives
self.hooks = self['RecursiveHooks']
if self.hooks == None:
self.hooks = {}
def processResponse(self, sensorInputs, recursiveInputs):
response = sensorInputs
for behaviorId in self['ChainedBehaviors']:
behavior = compReg.getComponent(behaviorId)
if behaviorId in self.feedback:
recurrence = self.feedback[behaviorId]
else:
recurrence = []
(response,recurrence) = behavior.immediateProcessInput(response,\
recurrence)
if behaviorId in self.hooks: #process recursive hook if there is one
hookBehavior = compReg.getComponent(self.hooks[behaviorId])
#we feed its recurrence in as input to the behavior.
(recurrence, hookRecurrence) = \
hookBehavior.immediateProcessInput(recurrence, \
[])
if hookRecurrence != []:
main_log.warn('Hook recurrences are not currently supported.')
self.feedback[behaviorId] = recurrence
return (response, [])
def appendBehavior(behavior):
bid = compReg.registerComponent(behavior) #register behavior (will make
#a new id if there isn't one)
self['ChainedBehaviors'].append(bid)
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