aea.skills.behaviours
This module contains the classes for specific behaviours.
SimpleBehaviour Objects
class SimpleBehaviour(Behaviour, ABC)
This class implements a simple behaviour.
__init__
| __init__(act: Optional[Callable[[], None]] = None, **kwargs)
Initialize a simple behaviour.
Arguments:
act: the act callable.kwargs: the keyword arguments to be passed to the parent class.
setup
| setup() -> None
Set the behaviour up.
act
| act() -> None
Do the action.
teardown
| teardown() -> None
Tear the behaviour down.
CompositeBehaviour Objects
class CompositeBehaviour(Behaviour, ABC)
This class implements a composite behaviour.
CyclicBehaviour Objects
class CyclicBehaviour(SimpleBehaviour, ABC)
This behaviour is executed until the agent is stopped.
__init__
| __init__(**kwargs)
Initialize the cyclic behaviour.
act_wrapper
| act_wrapper() -> None
Wrap the call of the action. This method must be called only by the framework.
is_done
| is_done() -> bool
Return True if the behaviour is terminated, False otherwise.
The user should implement it properly to determine the stopping condition.
OneShotBehaviour Objects
class OneShotBehaviour(SimpleBehaviour, ABC)
This behaviour is executed only once.
__init__
| __init__(**kwargs)
Initialize the cyclic behaviour.
is_done
| is_done() -> bool
Return True if the behaviour is terminated, False otherwise.
act_wrapper
| act_wrapper() -> None
Wrap the call of the action. This method must be called only by the framework.
TickerBehaviour Objects
class TickerBehaviour(SimpleBehaviour, ABC)
This behaviour is executed periodically with an interval.
__init__
| __init__(tick_interval: float = 1.0, start_at: Optional[datetime.datetime] = None, **kwargs)
Initialize the ticker behaviour.
Arguments:
tick_interval: interval of the behaviour in seconds.start_at: whether to start the behaviour with an offset.
tick_interval
| @property
| tick_interval() -> float
Get the tick_interval in seconds.
start_at
| @property
| start_at() -> datetime.datetime
Get the start time.
last_act_time
| @property
| last_act_time() -> datetime.datetime
Get the last time the act method has been called.
act_wrapper
| act_wrapper() -> None
Wrap the call of the action. This method must be called only by the framework.
is_time_to_act
| is_time_to_act() -> bool
Check whether it is time to act, according to the tick_interval constraint and the 'start at' constraint.
Returns:
True if it is time to act, false otherwise.
SequenceBehaviour Objects
class SequenceBehaviour(CompositeBehaviour, ABC)
This behaviour executes sub-behaviour serially.
__init__
| __init__(behaviour_sequence: List[Behaviour], **kwargs)
Initialize the sequence behaviour.
Arguments:
behaviour_sequence: the sequence of behaviour.kwargs:
current_behaviour
| @property
| current_behaviour() -> Optional[Behaviour]
Get the current behaviour.
If None, the sequence behaviour can be considered done.
act
| act() -> None
Implement the behaviour.
is_done
| is_done() -> bool
Return True if the behaviour is terminated, False otherwise.
State Objects
class State(SimpleBehaviour, ABC)
A state of a FSMBehaviour.
A State behaviour is a simple behaviour with a special property 'event' that is opportunely set by the implementer. The event is read by the framework when the behaviour is done in order to pick the transition to trigger.
__init__
| __init__(**kwargs)
Initialize a state of the state machine.
event
| @property
| event() -> Optional[str]
Get the event to be triggered at the end of the behaviour.
is_done
| @abstractmethod
| is_done() -> bool
Return True if the behaviour is terminated, False otherwise.
reset
| reset() -> None
Reset initial conditions.
FSMBehaviour Objects
class FSMBehaviour(CompositeBehaviour, ABC)
This class implements a finite-state machine behaviour.
__init__
| __init__(**kwargs)
Initialize the finite-state machine behaviour.
is_started
| @property
| is_started() -> bool
Check if the behaviour is started.
register_state
| register_state(name: str, state: State, initial: bool = False) -> None
Register a state.
Arguments:
name: the name of the state.state: the behaviour in that state.initial: whether the state is an initial state.
Returns:
None
Raises:
ValueError: if a state with the provided name already exists.
register_final_state
| register_final_state(name: str, state: State) -> None
Register a final state.
Arguments:
name: the name of the state.state: the state.
Returns:
None
Raises:
ValueError: if a state with the provided name already exists.
unregister_state
| unregister_state(name: str) -> None
Unregister a state.
Arguments:
name: the state name to unregister.
Returns:
None
Raises:
ValueError: if the state is not registered.
states
| @property
| states() -> Set[str]
Get all the state names.
initial_state
| @property
| initial_state() -> Optional[str]
Get the initial state name.
initial_state
| @initial_state.setter
| initial_state(name: str)
Set the initial state.
final_states
| @property
| final_states() -> Set[str]
Get the final state names.
get_state
| get_state(name) -> Optional[State]
Get a state from its name.
act
| act()
Implement the behaviour.
is_done
| is_done() -> bool
Return True if the behaviour is terminated, False otherwise.
register_transition
| register_transition(source: str, destination: str, event: Optional[str] = None)
Register a transition.
No sanity check is done.
Arguments:
source: the source state name.destination: the destination state name.event: the event.
Returns:
None
Raises:
ValueError: if a transition from source with event is already present.
unregister_transition
| unregister_transition(source: str, destination: str, event: Optional[str] = None)
Unregister a transition.
Arguments:
source: the source state name.destination: the destination state name.event: the event.
Returns:
None
Raises:
ValueError: if a transition from source with event is not present.