133 lines
4.5 KiB
Python
133 lines
4.5 KiB
Python
|
#!/usr/bin/env python3
|
||
|
|
#
|
||
|
|
# License: BSD
|
||
|
|
# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
|
||
|
|
#
|
||
|
|
##############################################################################
|
||
|
|
# Documentation
|
||
|
|
##############################################################################
|
||
|
|
|
||
|
|
"""
|
||
|
|
.. argparse::
|
||
|
|
:module: py_trees.demos.display_modes
|
||
|
|
:func: command_line_argument_parser
|
||
|
|
:prog: py-trees-demo-display-modes
|
||
|
|
|
||
|
|
.. figure:: images/display_modes.png
|
||
|
|
:align: center
|
||
|
|
|
||
|
|
Console Screenshot
|
||
|
|
"""
|
||
|
|
|
||
|
|
##############################################################################
|
||
|
|
# Imports
|
||
|
|
##############################################################################
|
||
|
|
|
||
|
|
import argparse
|
||
|
|
import itertools
|
||
|
|
import py_trees
|
||
|
|
|
||
|
|
import py_trees.console as console
|
||
|
|
|
||
|
|
##############################################################################
|
||
|
|
# Classes
|
||
|
|
##############################################################################
|
||
|
|
|
||
|
|
|
||
|
|
def description():
|
||
|
|
content = "Demonstrates usage of the ascii/unicode display modes.\n"
|
||
|
|
content += "\n"
|
||
|
|
content += "...\n"
|
||
|
|
content += "...\n"
|
||
|
|
|
||
|
|
if py_trees.console.has_colours:
|
||
|
|
banner_line = console.green + "*" * 79 + "\n" + console.reset
|
||
|
|
s = "\n"
|
||
|
|
s += banner_line
|
||
|
|
s += console.bold_white + "Display Modes".center(79) + "\n" + console.reset
|
||
|
|
s += banner_line
|
||
|
|
s += "\n"
|
||
|
|
s += content
|
||
|
|
s += "\n"
|
||
|
|
s += banner_line
|
||
|
|
else:
|
||
|
|
s = content
|
||
|
|
return s
|
||
|
|
|
||
|
|
|
||
|
|
def epilog():
|
||
|
|
if py_trees.console.has_colours:
|
||
|
|
return console.cyan + "And his noodly appendage reached forth to tickle the blessed...\n" + console.reset
|
||
|
|
else:
|
||
|
|
return None
|
||
|
|
|
||
|
|
|
||
|
|
def command_line_argument_parser():
|
||
|
|
parser = argparse.ArgumentParser(description=description(),
|
||
|
|
epilog=epilog(),
|
||
|
|
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||
|
|
)
|
||
|
|
return parser
|
||
|
|
|
||
|
|
|
||
|
|
def create_root() -> py_trees.behaviour.Behaviour:
|
||
|
|
"""
|
||
|
|
Create the tree to be ticked/displayed.
|
||
|
|
|
||
|
|
Returns:
|
||
|
|
the root of the tree
|
||
|
|
"""
|
||
|
|
root = py_trees.composites.Sequence(name="root")
|
||
|
|
child = py_trees.composites.Sequence(name="child1")
|
||
|
|
child2 = py_trees.composites.Sequence(name="child2")
|
||
|
|
child3 = py_trees.composites.Sequence(name="child3")
|
||
|
|
root.add_child(child)
|
||
|
|
root.add_child(child2)
|
||
|
|
root.add_child(child3)
|
||
|
|
|
||
|
|
child.add_child(py_trees.behaviours.Count(name='Count', fail_until=0, running_until=1, success_until=6,))
|
||
|
|
child2.add_child(py_trees.behaviours.Count(name='Count', fail_until=0, running_until=1, success_until=6,))
|
||
|
|
child2_child1 = py_trees.composites.Sequence(name="Child2_child1")
|
||
|
|
child2_child1.add_child(py_trees.behaviours.Count(name='Count', fail_until=0, running_until=1, success_until=6,))
|
||
|
|
child2.add_child(child2_child1)
|
||
|
|
child3.add_child(py_trees.behaviours.Count(name='Count', fail_until=0, running_until=1, success_until=6,))
|
||
|
|
return root
|
||
|
|
|
||
|
|
|
||
|
|
##############################################################################
|
||
|
|
# Main
|
||
|
|
##############################################################################
|
||
|
|
|
||
|
|
|
||
|
|
def main():
|
||
|
|
"""
|
||
|
|
Entry point for the demo script.
|
||
|
|
"""
|
||
|
|
unused_args = command_line_argument_parser().parse_args()
|
||
|
|
print(description())
|
||
|
|
print("-------------------------------------------------------------------------------")
|
||
|
|
print("$ py_trees.blackboard.Client(name='Blackboard')")
|
||
|
|
print("$ foo.register_key(key='dude', access=py_trees.common.Access.WRITE)")
|
||
|
|
print("$ foo.register_key(key='/dudette', access=py_trees.common.Access.WRITE)")
|
||
|
|
print("$ foo.register_key(key='/foo/bar/wow', access=py_trees.common.Access.WRITE)")
|
||
|
|
print("-------------------------------------------------------------------------------")
|
||
|
|
|
||
|
|
snapshot_visitor = py_trees.visitors.SnapshotVisitor()
|
||
|
|
tree = py_trees.trees.BehaviourTree(create_root())
|
||
|
|
tree.add_visitor(snapshot_visitor)
|
||
|
|
|
||
|
|
for tick in range(2):
|
||
|
|
tree.tick()
|
||
|
|
for show_visited, show_status in itertools.product([False, True], [False, True]):
|
||
|
|
console.banner("Tick {} / show_only_visited=={} / show_status=={}".format(tick, show_visited, show_status))
|
||
|
|
print(
|
||
|
|
py_trees.display.unicode_tree(
|
||
|
|
tree.root,
|
||
|
|
show_status=show_status,
|
||
|
|
show_only_visited=show_visited,
|
||
|
|
visited=snapshot_visitor.visited,
|
||
|
|
previously_visited=snapshot_visitor.previously_visited
|
||
|
|
)
|
||
|
|
)
|
||
|
|
print()
|