Rumba Assignment

1. Running the Program

• First download the directory, and extract it if necessary.
• Then open terminal/cmd prompt and navigate to the location in which you downloaded the directory.
• If you do not have python installed, install python. Make sure you are running python version 3, the program is not compatible with version 2.
• Once you have navigated to the correct location and are in terminal run: python RumbaStart.py
• I recommend running the program in an IDE with an integrated terminal like Pycharm so it is easy to view the files and the documentation while running it.

2. Testing the Program

• The program can be tested by simply following the console print statements.
• After any task is executed, the console prints the status of the blackboard and asks the user to check the status before continuing. This allows for easy testing. Note that these pauses are not included in the Rumba's running time. They are simply added to allow debugging and testing to be easy.
• By following the sequence through which the tasks are executed, how exactly the program follows the behaviour tree can be measured.
• To do a basic testing run through execute every different command, and check if the console outputs follow the behaviour tree.

3. Design

• The tree is designed as a series of hierarchical nodes.
• The base Node class is inherited by all other nodes.
• The base Task class, Composite class, Decorator class and Condition class inherits from the base Node class and are inherited by all specific nodes of their type.
• The priority composite runs the tree as follows
  1. each sequence and selection is defined in the priority node class. These build upon eachother. For example, the spot cleaning sequence is made up of three tasks and is a child of the general/spot selection, which is a child of the first priority node selection.
  2. In this way, by simply running the priority node, the entire tree executes in a depth first manner.

4. Documentation

• Every important class or function is documented in the source code. Thus the source code acts as the documentation.