Add Fault Injection from Behavior Tree Specification

scenarios/gs_straight_road_cutin_scenario.osm

@@ -34,7 +34,7 @@
     <tag k='agentspeed' v='7' />
   </node>
   <node id='-24' action='modify' visible='true' lat='49.00728001001' lon='8.45719531171'>
-    <tag k='btree' v='lanechange_scenario_tree' />
+    <tag k='btree' v='lane_change_scenario_tree' />
     <tag k='gs' v='vehicle' />
     <tag k='name' v='lane_change_vehicle' />
     <tag k='orientation' v='325' />

scenarios/trees/drive_tree.btree

@@ -4,6 +4,6 @@ behaviortree drive_tree:
             condition goal ( reached_goal() )
             maneuver stop_reached_goal ( MStopConfig() )
         ->
-            condition c_busy_lane( lane_occupied() )
+            condition c_busy_lane( lane_occupied(), error=0.0 )
             maneuver m_follow_leading_v ( MFollowConfig() )   
-        maneuver keep_velocity ( MVelKeepConfig(vel=MP(16.0,10,6)) )
+        maneuver keep_velocity ( MVelKeepConfig(vel=MP(16.0,10,6) ))

scenarios/trees/lane_change_scenario_tree.btree

@@ -1,6 +1,6 @@
 behaviortree LaneChange:
     ?
         ->
-            condition lc( sim_time (repeat=False, tmin=3, tmax=10))
+            condition lc( sim_time (repeat=False, tmin=3, tmax=10), delay=0.1)
             subtree lane_change_tree()
         subtree drive_tree()

sv/SVPlanner.py

@@ -135,7 +135,7 @@ def run_planner_process(self, traffic_state_sharr, mplan_sharr, debug_shdata):
 
             #log.info('Plan {} at time {} and FRENET STATE:'.format(self.vid, state_time))
             #log.info((planner_state.vehicle_state.get_S(), planner_state.vehicle_state.get_D()))
-
+            
             #Maneuver Tick
             if mconfig and planner_state.lane_config:
                 #replan maneuver

sv/btree/BTreeLeaves.py

@@ -4,38 +4,56 @@
 
 from py_trees import *
 import random
+import time
 from sv.ManeuverStatus import *
 from sv.btree.BehaviorModels import *
 from sv.ManeuverConfig import *
 import sv.ManeuverUtils
 
 #alternative:
 class BCondition(behaviour.Behaviour):
-    def __init__(self, bmodel, name, condition, repeat=True, **kwargs):
+    def __init__(self, bmodel, name, condition, repeat=True, error=0, delay=0, **kwargs):
         super(BCondition, self).__init__(name)
         self.name = name
         self.condition = condition
         self.bmodel = bmodel
         self.kwargs = kwargs
         self.repeat = repeat
+        self.error = float(error)
+        self.delay = delay
+        self.trigger_time = True
         self.triggered = False
+        self.tic = 0
+        self.toc = 0 
 
     def update(self):
         self.logger.debug("  %s [BCondition::update()]" % self.name)
         status = common.Status.FAILURE
 
-        #print("BCondition {} {}".format(self.name,self.kwargs))
+        if self.trigger_time: 
+            self.tic = time.perf_counter()
+            self.trigger_time = False
+
+        self.toc = time.perf_counter()
+        elapsed_time = self.toc-self.tic 
+
         try:
             if self.repeat or not self.triggered:
-                if self.bmodel.test_condition(self.condition, self.kwargs):
-                    #print("SUCCESS")
-                    status = common.Status.SUCCESS
-                    self.triggered = True
+                p = random.random() > self.error
+                if elapsed_time >= self.delay:
+                    self.trigger_time = True
+                    # negate xor: invert result from test_condition
+                    if  not (p ^ self.bmodel.test_condition(self.condition, self.kwargs)):
+                        status = common.Status.SUCCESS
+                        self.triggered = True
+                else:
+                    status = common.Status.RUNNING
+
 
         except KeyError as e:
             raise RuntimeError("Missing condition '" + self.name + "'.")
 
-        return status
+        return status 
 
 
 class ManeuverAction(behaviour.Behaviour):

sv/btree/BTreeParser.py

@@ -234,11 +234,15 @@ def exitManeuver(self, ctx):
         self.exec_stack.append(s)
         self.nodes += name + ","
 
-    # e.g. endpoint = BCondition(self.bmodel,"endpoint", "lane_occupied", args)
-    def exitCondition(self, ctx):
-        name = ctx.name().getText()
+    # e.g. endpoint = BCondition(self.bmodel,"endpoint", "lane_occupied", error=0.2, delay=0.8, args)
+    def exitCondition(self, ctx): 
+        name = ctx.name().getText() 
         cconfig_name = ctx.cconfig().name().getText()
         s = name + " = " + "BCondition(parser.bmodel," + "\"" + name + "\"" + "," + "\"" + cconfig_name + "\""
+        if ctx.error() != None:
+            s += ", " + ctx.error().getText() 
+        if ctx.delay() != None:
+            s += ", " + ctx.delay().getText()
         cconfig_params = ""
         if hasattr(ctx.cconfig().params(), '__iter__'):
             for param in ctx.cconfig().params(): cconfig_params += "," + param.getText()

sv/btree/parser/BTreeDSL.g4

@@ -36,11 +36,13 @@ node                : leafNode | nodeComposition;
 nodeComposition     : OPERATOR INDENT node+ DEDENT;
 leafNode            : (maneuver | condition | subtree) NL;
 
-condition           : 'condition' name '(' cconfig ')';
+condition           : 'condition' name '(' cconfig (',' error)? (',' delay)? ')';
 maneuver            : 'maneuver' name '(' mconfig ')';
 subtree             : 'subtree' name '(' (midconf (',' midconf)*)? ')';
 midconf             : mid '=' mconfig;
 
+error               : 'error' '=' FLOAT;
+delay               : 'delay' '=' FLOAT;
 
 mconfig             : name '(' params* ')';
 cconfig             : name '(' params* ')';

sv/btree/parser/BTreeDSL.interp

@@ -4,10 +4,12 @@ null
 ':'
 'condition'
 '('
+','
 ')'
 'maneuver'
 'subtree'
-','
+'error'
+'delay'
 null
 null
 '='
@@ -28,6 +30,8 @@ null
 null
 null
 null
+null
+null
 OPERATOR
 BOP
 ATT
@@ -48,6 +52,8 @@ condition
 maneuver
 subtree
 midconf
+error
+delay
 mconfig
 cconfig
 mid
@@ -60,4 +66,4 @@ name
 
 
 atn:
-[3, 24715, 42794, 33075, 47597, 16764, 15335, 30598, 22884, 3, 19, 185, 4, 2, 9, 2, 4, 3, 9, 3, 4, 4, 9, 4, 4, 5, 9, 5, 4, 6, 9, 6, 4, 7, 9, 7, 4, 8, 9, 8, 4, 9, 9, 9, 4, 10, 9, 10, 4, 11, 9, 11, 4, 12, 9, 12, 4, 13, 9, 13, 4, 14, 9, 14, 4, 15, 9, 15, 4, 16, 9, 16, 4, 17, 9, 17, 4, 18, 9, 18, 4, 19, 9, 19, 3, 2, 3, 2, 3, 2, 3, 2, 3, 2, 3, 2, 5, 2, 45, 10, 2, 3, 2, 5, 2, 48, 10, 2, 6, 2, 50, 10, 2, 13, 2, 14, 2, 51, 3, 2, 3, 2, 3, 3, 3, 3, 3, 4, 3, 4, 5, 4, 60, 10, 4, 3, 5, 3, 5, 3, 5, 6, 5, 65, 10, 5, 13, 5, 14, 5, 66, 3, 5, 3, 5, 3, 6, 3, 6, 3, 6, 5, 6, 74, 10, 6, 3, 6, 3, 6, 3, 7, 3, 7, 3, 7, 3, 7, 3, 7, 3, 7, 3, 8, 3, 8, 3, 8, 3, 8, 3, 8, 3, 8, 3, 9, 3, 9, 3, 9, 3, 9, 3, 9, 3, 9, 7, 9, 96, 10, 9, 12, 9, 14, 9, 99, 11, 9, 5, 9, 101, 10, 9, 3, 9, 3, 9, 3, 10, 3, 10, 3, 10, 3, 10, 3, 11, 3, 11, 3, 11, 7, 11, 112, 10, 11, 12, 11, 14, 11, 115, 11, 11, 3, 11, 3, 11, 3, 12, 3, 12, 3, 12, 7, 12, 122, 10, 12, 12, 12, 14, 12, 125, 11, 12, 3, 12, 3, 12, 3, 13, 3, 13, 3, 14, 3, 14, 3, 14, 7, 14, 134, 10, 14, 12, 14, 14, 14, 137, 11, 14, 3, 15, 3, 15, 3, 15, 3, 15, 3, 16, 3, 16, 3, 16, 3, 16, 5, 16, 147, 10, 16, 3, 17, 3, 17, 3, 17, 3, 17, 3, 17, 7, 17, 154, 10, 17, 12, 17, 14, 17, 157, 11, 17, 3, 17, 3, 17, 3, 18, 3, 18, 3, 18, 3, 18, 7, 18, 165, 10, 18, 12, 18, 14, 18, 168, 11, 18, 3, 18, 3, 18, 3, 19, 7, 19, 173, 10, 19, 12, 19, 14, 19, 176, 11, 19, 3, 19, 3, 19, 7, 19, 180, 10, 19, 12, 19, 14, 19, 183, 11, 19, 3, 19, 2, 2, 20, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 2, 3, 3, 2, 12, 13, 2, 185, 2, 49, 3, 2, 2, 2, 4, 55, 3, 2, 2, 2, 6, 59, 3, 2, 2, 2, 8, 61, 3, 2, 2, 2, 10, 73, 3, 2, 2, 2, 12, 77, 3, 2, 2, 2, 14, 83, 3, 2, 2, 2, 16, 89, 3, 2, 2, 2, 18, 104, 3, 2, 2, 2, 20, 108, 3, 2, 2, 2, 22, 118, 3, 2, 2, 2, 24, 128, 3, 2, 2, 2, 26, 130, 3, 2, 2, 2, 28, 138, 3, 2, 2, 2, 30, 146, 3, 2, 2, 2, 32, 148, 3, 2, 2, 2, 34, 160, 3, 2, 2, 2, 36, 174, 3, 2, 2, 2, 38, 39, 7, 3, 2, 2, 39, 40, 5, 36, 19, 2, 40, 41, 7, 4, 2, 2, 41, 42, 7, 18, 2, 2, 42, 44, 5, 4, 3, 2, 43, 45, 7, 17, 2, 2, 44, 43, 3, 2, 2, 2, 44, 45, 3, 2, 2, 2, 45, 47, 3, 2, 2, 2, 46, 48, 7, 19, 2, 2, 47, 46, 3, 2, 2, 2, 47, 48, 3, 2, 2, 2, 48, 50, 3, 2, 2, 2, 49, 38, 3, 2, 2, 2, 50, 51, 3, 2, 2, 2, 51, 49, 3, 2, 2, 2, 51, 52, 3, 2, 2, 2, 52, 53, 3, 2, 2, 2, 53, 54, 7, 2, 2, 3, 54, 3, 3, 2, 2, 2, 55, 56, 5, 6, 4, 2, 56, 5, 3, 2, 2, 2, 57, 60, 5, 10, 6, 2, 58, 60, 5, 8, 5, 2, 59, 57, 3, 2, 2, 2, 59, 58, 3, 2, 2, 2, 60, 7, 3, 2, 2, 2, 61, 62, 7, 11, 2, 2, 62, 64, 7, 18, 2, 2, 63, 65, 5, 6, 4, 2, 64, 63, 3, 2, 2, 2, 65, 66, 3, 2, 2, 2, 66, 64, 3, 2, 2, 2, 66, 67, 3, 2, 2, 2, 67, 68, 3, 2, 2, 2, 68, 69, 7, 19, 2, 2, 69, 9, 3, 2, 2, 2, 70, 74, 5, 14, 8, 2, 71, 74, 5, 12, 7, 2, 72, 74, 5, 16, 9, 2, 73, 70, 3, 2, 2, 2, 73, 71, 3, 2, 2, 2, 73, 72, 3, 2, 2, 2, 74, 75, 3, 2, 2, 2, 75, 76, 7, 17, 2, 2, 76, 11, 3, 2, 2, 2, 77, 78, 7, 5, 2, 2, 78, 79, 5, 36, 19, 2, 79, 80, 7, 6, 2, 2, 80, 81, 5, 22, 12, 2, 81, 82, 7, 7, 2, 2, 82, 13, 3, 2, 2, 2, 83, 84, 7, 8, 2, 2, 84, 85, 5, 36, 19, 2, 85, 86, 7, 6, 2, 2, 86, 87, 5, 20, 11, 2, 87, 88, 7, 7, 2, 2, 88, 15, 3, 2, 2, 2, 89, 90, 7, 9, 2, 2, 90, 91, 5, 36, 19, 2, 91, 100, 7, 6, 2, 2, 92, 97, 5, 18, 10, 2, 93, 94, 7, 10, 2, 2, 94, 96, 5, 18, 10, 2, 95, 93, 3, 2, 2, 2, 96, 99, 3, 2, 2, 2, 97, 95, 3, 2, 2, 2, 97, 98, 3, 2, 2, 2, 98, 101, 3, 2, 2, 2, 99, 97, 3, 2, 2, 2, 100, 92, 3, 2, 2, 2, 100, 101, 3, 2, 2, 2, 101, 102, 3, 2, 2, 2, 102, 103, 7, 7, 2, 2, 103, 17, 3, 2, 2, 2, 104, 105, 5, 24, 13, 2, 105, 106, 7, 13, 2, 2, 106, 107, 5, 20, 11, 2, 107, 19, 3, 2, 2, 2, 108, 109, 5, 36, 19, 2, 109, 113, 7, 6, 2, 2, 110, 112, 5, 26, 14, 2, 111, 110, 3, 2, 2, 2, 112, 115, 3, 2, 2, 2, 113, 111, 3, 2, 2, 2, 113, 114, 3, 2, 2, 2, 114, 116, 3, 2, 2, 2, 115, 113, 3, 2, 2, 2, 116, 117, 7, 7, 2, 2, 117, 21, 3, 2, 2, 2, 118, 119, 5, 36, 19, 2, 119, 123, 7, 6, 2, 2, 120, 122, 5, 26, 14, 2, 121, 120, 3, 2, 2, 2, 122, 125, 3, 2, 2, 2, 123, 121, 3, 2, 2, 2, 123, 124, 3, 2, 2, 2, 124, 126, 3, 2, 2, 2, 125, 123, 3, 2, 2, 2, 126, 127, 7, 7, 2, 2, 127, 23, 3, 2, 2, 2, 128, 129, 5, 36, 19, 2, 129, 25, 3, 2, 2, 2, 130, 135, 5, 28, 15, 2, 131, 132, 7, 10, 2, 2, 132, 134, 5, 28, 15, 2, 133, 131, 3, 2, 2, 2, 134, 137, 3, 2, 2, 2, 135, 133, 3, 2, 2, 2, 135, 136, 3, 2, 2, 2, 136, 27, 3, 2, 2, 2, 137, 135, 3, 2, 2, 2, 138, 139, 5, 36, 19, 2, 139, 140, 9, 2, 2, 2, 140, 141, 5, 30, 16, 2, 141, 29, 3, 2, 2, 2, 142, 147, 7, 14, 2, 2, 143, 147, 5, 36, 19, 2, 144, 147, 5, 32, 17, 2, 145, 147, 5, 34, 18, 2, 146, 142, 3, 2, 2, 2, 146, 143, 3, 2, 2, 2, 146, 144, 3, 2, 2, 2, 146, 145, 3, 2, 2, 2, 147, 31, 3, 2, 2, 2, 148, 149, 5, 36, 19, 2, 149, 150, 7, 6, 2, 2, 150, 155, 7, 14, 2, 2, 151, 152, 7, 10, 2, 2, 152, 154, 7, 14, 2, 2, 153, 151, 3, 2, 2, 2, 154, 157, 3, 2, 2, 2, 155, 153, 3, 2, 2, 2, 155, 156, 3, 2, 2, 2, 156, 158, 3, 2, 2, 2, 157, 155, 3, 2, 2, 2, 158, 159, 7, 7, 2, 2, 159, 33, 3, 2, 2, 2, 160, 161, 7, 6, 2, 2, 161, 166, 7, 14, 2, 2, 162, 163, 7, 10, 2, 2, 163, 165, 7, 14, 2, 2, 164, 162, 3, 2, 2, 2, 165, 168, 3, 2, 2, 2, 166, 164, 3, 2, 2, 2, 166, 167, 3, 2, 2, 2, 167, 169, 3, 2, 2, 2, 168, 166, 3, 2, 2, 2, 169, 170, 7, 7, 2, 2, 170, 35, 3, 2, 2, 2, 171, 173, 7, 16, 2, 2, 172, 171, 3, 2, 2, 2, 173, 176, 3, 2, 2, 2, 174, 172, 3, 2, 2, 2, 174, 175, 3, 2, 2, 2, 175, 177, 3, 2, 2, 2, 176, 174, 3, 2, 2, 2, 177, 181, 7, 15, 2, 2, 178, 180, 7, 16, 2, 2, 179, 178, 3, 2, 2, 2, 180, 183, 3, 2, 2, 2, 181, 179, 3, 2, 2, 2, 181, 182, 3, 2, 2, 2, 182, 37, 3, 2, 2, 2, 183, 181, 3, 2, 2, 2, 18, 44, 47, 51, 59, 66, 73, 97, 100, 113, 123, 135, 146, 155, 166, 174, 181]
+[3, 24715, 42794, 33075, 47597, 16764, 15335, 30598, 22884, 3, 21, 191, 4, 2, 9, 2, 4, 3, 9, 3, 4, 4, 9, 4, 4, 5, 9, 5, 4, 6, 9, 6, 4, 7, 9, 7, 4, 8, 9, 8, 4, 9, 9, 9, 4, 10, 9, 10, 4, 11, 9, 11, 4, 12, 9, 12, 4, 13, 9, 13, 4, 14, 9, 14, 4, 15, 9, 15, 4, 16, 9, 16, 4, 17, 9, 17, 4, 18, 9, 18, 4, 19, 9, 19, 4, 20, 9, 20, 3, 2, 3, 2, 3, 2, 3, 2, 3, 2, 3, 2, 5, 2, 47, 10, 2, 3, 2, 5, 2, 50, 10, 2, 6, 2, 52, 10, 2, 13, 2, 14, 2, 53, 3, 2, 3, 2, 3, 3, 3, 3, 3, 4, 3, 4, 5, 4, 62, 10, 4, 3, 5, 3, 5, 3, 5, 6, 5, 67, 10, 5, 13, 5, 14, 5, 68, 3, 5, 3, 5, 3, 6, 3, 6, 3, 6, 5, 6, 76, 10, 6, 3, 6, 3, 6, 3, 7, 3, 7, 3, 7, 3, 7, 3, 7, 3, 7, 5, 7, 86, 10, 7, 3, 7, 3, 7, 5, 7, 90, 10, 7, 3, 7, 3, 7, 3, 8, 3, 8, 3, 8, 3, 8, 3, 8, 3, 8, 3, 9, 3, 9, 3, 9, 3, 9, 3, 9, 3, 9, 7, 9, 106, 10, 9, 12, 9, 14, 9, 109, 11, 9, 5, 9, 111, 10, 9, 3, 9, 3, 9, 3, 10, 3, 10, 3, 10, 3, 10, 3, 11, 3, 11, 3, 11, 3, 11, 3, 12, 3, 12, 3, 12, 3, 12, 3, 13, 3, 13, 3, 13, 7, 13, 130, 10, 13, 12, 13, 14, 13, 133, 11, 13, 3, 13, 3, 13, 3, 14, 3, 14, 3, 14, 7, 14, 140, 10, 14, 12, 14, 14, 14, 143, 11, 14, 3, 14, 3, 14, 3, 15, 3, 15, 3, 16, 3, 16, 3, 16, 7, 16, 152, 10, 16, 12, 16, 14, 16, 155, 11, 16, 3, 17, 3, 17, 3, 17, 3, 17, 3, 18, 3, 18, 3, 18, 5, 18, 164, 10, 18, 3, 19, 3, 19, 3, 19, 3, 19, 3, 19, 7, 19, 171, 10, 19, 12, 19, 14, 19, 174, 11, 19, 3, 19, 3, 19, 3, 20, 7, 20, 179, 10, 20, 12, 20, 14, 20, 182, 11, 20, 3, 20, 3, 20, 7, 20, 186, 10, 20, 12, 20, 14, 20, 189, 11, 20, 3, 20, 2, 2, 21, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 2, 3, 3, 2, 14, 15, 2, 190, 2, 51, 3, 2, 2, 2, 4, 57, 3, 2, 2, 2, 6, 61, 3, 2, 2, 2, 8, 63, 3, 2, 2, 2, 10, 75, 3, 2, 2, 2, 12, 79, 3, 2, 2, 2, 14, 93, 3, 2, 2, 2, 16, 99, 3, 2, 2, 2, 18, 114, 3, 2, 2, 2, 20, 118, 3, 2, 2, 2, 22, 122, 3, 2, 2, 2, 24, 126, 3, 2, 2, 2, 26, 136, 3, 2, 2, 2, 28, 146, 3, 2, 2, 2, 30, 148, 3, 2, 2, 2, 32, 156, 3, 2, 2, 2, 34, 163, 3, 2, 2, 2, 36, 165, 3, 2, 2, 2, 38, 180, 3, 2, 2, 2, 40, 41, 7, 3, 2, 2, 41, 42, 5, 38, 20, 2, 42, 43, 7, 4, 2, 2, 43, 44, 7, 20, 2, 2, 44, 46, 5, 4, 3, 2, 45, 47, 7, 19, 2, 2, 46, 45, 3, 2, 2, 2, 46, 47, 3, 2, 2, 2, 47, 49, 3, 2, 2, 2, 48, 50, 7, 21, 2, 2, 49, 48, 3, 2, 2, 2, 49, 50, 3, 2, 2, 2, 50, 52, 3, 2, 2, 2, 51, 40, 3, 2, 2, 2, 52, 53, 3, 2, 2, 2, 53, 51, 3, 2, 2, 2, 53, 54, 3, 2, 2, 2, 54, 55, 3, 2, 2, 2, 55, 56, 7, 2, 2, 3, 56, 3, 3, 2, 2, 2, 57, 58, 5, 6, 4, 2, 58, 5, 3, 2, 2, 2, 59, 62, 5, 10, 6, 2, 60, 62, 5, 8, 5, 2, 61, 59, 3, 2, 2, 2, 61, 60, 3, 2, 2, 2, 62, 7, 3, 2, 2, 2, 63, 64, 7, 13, 2, 2, 64, 66, 7, 20, 2, 2, 65, 67, 5, 6, 4, 2, 66, 65, 3, 2, 2, 2, 67, 68, 3, 2, 2, 2, 68, 66, 3, 2, 2, 2, 68, 69, 3, 2, 2, 2, 69, 70, 3, 2, 2, 2, 70, 71, 7, 21, 2, 2, 71, 9, 3, 2, 2, 2, 72, 76, 5, 14, 8, 2, 73, 76, 5, 12, 7, 2, 74, 76, 5, 16, 9, 2, 75, 72, 3, 2, 2, 2, 75, 73, 3, 2, 2, 2, 75, 74, 3, 2, 2, 2, 76, 77, 3, 2, 2, 2, 77, 78, 7, 19, 2, 2, 78, 11, 3, 2, 2, 2, 79, 80, 7, 5, 2, 2, 80, 81, 5, 38, 20, 2, 81, 82, 7, 6, 2, 2, 82, 85, 5, 26, 14, 2, 83, 84, 7, 7, 2, 2, 84, 86, 5, 20, 11, 2, 85, 83, 3, 2, 2, 2, 85, 86, 3, 2, 2, 2, 86, 89, 3, 2, 2, 2, 87, 88, 7, 7, 2, 2, 88, 90, 5, 22, 12, 2, 89, 87, 3, 2, 2, 2, 89, 90, 3, 2, 2, 2, 90, 91, 3, 2, 2, 2, 91, 92, 7, 8, 2, 2, 92, 13, 3, 2, 2, 2, 93, 94, 7, 9, 2, 2, 94, 95, 5, 38, 20, 2, 95, 96, 7, 6, 2, 2, 96, 97, 5, 24, 13, 2, 97, 98, 7, 8, 2, 2, 98, 15, 3, 2, 2, 2, 99, 100, 7, 10, 2, 2, 100, 101, 5, 38, 20, 2, 101, 110, 7, 6, 2, 2, 102, 107, 5, 18, 10, 2, 103, 104, 7, 7, 2, 2, 104, 106, 5, 18, 10, 2, 105, 103, 3, 2, 2, 2, 106, 109, 3, 2, 2, 2, 107, 105, 3, 2, 2, 2, 107, 108, 3, 2, 2, 2, 108, 111, 3, 2, 2, 2, 109, 107, 3, 2, 2, 2, 110, 102, 3, 2, 2, 2, 110, 111, 3, 2, 2, 2, 111, 112, 3, 2, 2, 2, 112, 113, 7, 8, 2, 2, 113, 17, 3, 2, 2, 2, 114, 115, 5, 28, 15, 2, 115, 116, 7, 15, 2, 2, 116, 117, 5, 24, 13, 2, 117, 19, 3, 2, 2, 2, 118, 119, 7, 11, 2, 2, 119, 120, 7, 15, 2, 2, 120, 121, 7, 16, 2, 2, 121, 21, 3, 2, 2, 2, 122, 123, 7, 12, 2, 2, 123, 124, 7, 15, 2, 2, 124, 125, 7, 16, 2, 2, 125, 23, 3, 2, 2, 2, 126, 127, 5, 38, 20, 2, 127, 131, 7, 6, 2, 2, 128, 130, 5, 30, 16, 2, 129, 128, 3, 2, 2, 2, 130, 133, 3, 2, 2, 2, 131, 129, 3, 2, 2, 2, 131, 132, 3, 2, 2, 2, 132, 134, 3, 2, 2, 2, 133, 131, 3, 2, 2, 2, 134, 135, 7, 8, 2, 2, 135, 25, 3, 2, 2, 2, 136, 137, 5, 38, 20, 2, 137, 141, 7, 6, 2, 2, 138, 140, 5, 30, 16, 2, 139, 138, 3, 2, 2, 2, 140, 143, 3, 2, 2, 2, 141, 139, 3, 2, 2, 2, 141, 142, 3, 2, 2, 2, 142, 144, 3, 2, 2, 2, 143, 141, 3, 2, 2, 2, 144, 145, 7, 8, 2, 2, 145, 27, 3, 2, 2, 2, 146, 147, 5, 38, 20, 2, 147, 29, 3, 2, 2, 2, 148, 153, 5, 32, 17, 2, 149, 150, 7, 7, 2, 2, 150, 152, 5, 32, 17, 2, 151, 149, 3, 2, 2, 2, 152, 155, 3, 2, 2, 2, 153, 151, 3, 2, 2, 2, 153, 154, 3, 2, 2, 2, 154, 31, 3, 2, 2, 2, 155, 153, 3, 2, 2, 2, 156, 157, 5, 38, 20, 2, 157, 158, 9, 2, 2, 2, 158, 159, 5, 34, 18, 2, 159, 33, 3, 2, 2, 2, 160, 164, 7, 16, 2, 2, 161, 164, 5, 38, 20, 2, 162, 164, 5, 36, 19, 2, 163, 160, 3, 2, 2, 2, 163, 161, 3, 2, 2, 2, 163, 162, 3, 2, 2, 2, 164, 35, 3, 2, 2, 2, 165, 166, 5, 38, 20, 2, 166, 167, 7, 6, 2, 2, 167, 172, 7, 16, 2, 2, 168, 169, 7, 7, 2, 2, 169, 171, 7, 16, 2, 2, 170, 168, 3, 2, 2, 2, 171, 174, 3, 2, 2, 2, 172, 170, 3, 2, 2, 2, 172, 173, 3, 2, 2, 2, 173, 175, 3, 2, 2, 2, 174, 172, 3, 2, 2, 2, 175, 176, 7, 8, 2, 2, 176, 37, 3, 2, 2, 2, 177, 179, 7, 18, 2, 2, 178, 177, 3, 2, 2, 2, 179, 182, 3, 2, 2, 2, 180, 178, 3, 2, 2, 2, 180, 181, 3, 2, 2, 2, 181, 183, 3, 2, 2, 2, 182, 180, 3, 2, 2, 2, 183, 187, 7, 17, 2, 2, 184, 186, 7, 18, 2, 2, 185, 184, 3, 2, 2, 2, 186, 189, 3, 2, 2, 2, 187, 185, 3, 2, 2, 2, 187, 188, 3, 2, 2, 2, 188, 39, 3, 2, 2, 2, 189, 187, 3, 2, 2, 2, 19, 46, 49, 53, 61, 68, 75, 85, 89, 107, 110, 131, 141, 153, 163, 172, 180, 187]

sv/btree/parser/BTreeDSL.tokens

@@ -6,21 +6,25 @@ T__4=5
 T__5=6
 T__6=7
 T__7=8
-OPERATOR=9
-BOP=10
-ATT=11
-FLOAT=12
-WORD=13
-WS=14
-NL=15
-INDENT=16
-DEDENT=17
+T__8=9
+T__9=10
+OPERATOR=11
+BOP=12
+ATT=13
+FLOAT=14
+WORD=15
+WS=16
+NL=17
+INDENT=18
+DEDENT=19
 'behaviortree'=1
 ':'=2
 'condition'=3
 '('=4
-')'=5
-'maneuver'=6
-'subtree'=7
-','=8
-'='=11
+','=5
+')'=6
+'maneuver'=7
+'subtree'=8
+'error'=9
+'delay'=10
+'='=13