132 lines
5.0 KiB
Python
132 lines
5.0 KiB
Python
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#!/usr/bin/env python
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#
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# License: BSD
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# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
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#
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##############################################################################
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# Documentation
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##############################################################################
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"""
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.. argparse::
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:module: py_trees.demos.dot_graphs
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:func: command_line_argument_parser
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:prog: py-trees-demo-dot-graphs
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.. graphviz:: dot/demo-dot-graphs.dot
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"""
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##############################################################################
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# Imports
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##############################################################################
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import argparse
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import subprocess
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import py_trees
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import py_trees.console as console
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##############################################################################
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# Classes
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##############################################################################
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def description():
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name = "py-trees-demo-dot-graphs"
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content = "Renders a dot graph for a simple tree, with blackboxes.\n"
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if py_trees.console.has_colours:
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banner_line = console.green + "*" * 79 + "\n" + console.reset
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s = "\n"
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s += banner_line
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s += console.bold_white + "Dot Graphs".center(79) + "\n" + console.reset
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s += banner_line
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s += "\n"
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s += content
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s += "\n"
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s += console.white
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s += console.bold + " Generate Full Dot Graph" + console.reset + "\n"
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s += "\n"
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s += console.cyan + " {0}".format(name) + console.reset + "\n"
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s += "\n"
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s += console.bold + " With Varying Visibility Levels" + console.reset + "\n"
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s += "\n"
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s += console.cyan + " {0}".format(name) + console.yellow + " --level=all" + console.reset + "\n"
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s += console.cyan + " {0}".format(name) + console.yellow + " --level=detail" + console.reset + "\n"
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s += console.cyan + " {0}".format(name) + console.yellow + " --level=component" + console.reset + "\n"
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s += console.cyan + " {0}".format(name) + console.yellow + " --level=big_picture" + console.reset + "\n"
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s += "\n"
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s += banner_line
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else:
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s = content
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return s
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def epilog():
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if py_trees.console.has_colours:
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return console.cyan + "And his noodly appendage reached forth to tickle the blessed...\n" + console.reset
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else:
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return None
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def command_line_argument_parser():
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parser = argparse.ArgumentParser(description=description(),
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epilog=epilog(),
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formatter_class=argparse.RawDescriptionHelpFormatter,
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)
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parser.add_argument('-l', '--level', action='store',
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default='fine_detail',
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choices=['all', 'fine_detail', 'detail', 'component', 'big_picture'],
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help='visibility level')
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return parser
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def create_tree(level):
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root = py_trees.composites.Selector("Demo Dot Graphs %s" % level)
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first_blackbox = py_trees.composites.Sequence("BlackBox 1")
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first_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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first_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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first_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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first_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.BIG_PICTURE
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second_blackbox = py_trees.composites.Sequence("Blackbox 2")
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second_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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second_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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second_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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second_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.COMPONENT
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third_blackbox = py_trees.composites.Sequence("Blackbox 3")
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third_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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third_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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third_blackbox.add_child(py_trees.behaviours.Running("Worker"))
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third_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.DETAIL
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root.add_child(first_blackbox)
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root.add_child(second_blackbox)
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first_blackbox.add_child(third_blackbox)
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return root
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##############################################################################
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# Main
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##############################################################################
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def main():
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"""
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Entry point for the demo script.
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"""
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args = command_line_argument_parser().parse_args()
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args.enum_level = py_trees.common.string_to_visibility_level(args.level)
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print(description())
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py_trees.logging.level = py_trees.logging.Level.DEBUG
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root = create_tree(args.level)
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py_trees.display.render_dot_tree(root, args.enum_level)
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if py_trees.utilities.which("xdot"):
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try:
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subprocess.call(["xdot", "demo_dot_graphs_%s.dot" % args.level])
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except KeyboardInterrupt:
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pass
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else:
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print("")
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console.logerror("No xdot viewer found, skipping display [hint: sudo apt install xdot]")
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print("")
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