初次创建仓库提交代码

1. 已经构建好了架子了。 2. 添加了示例的插件
2025-04-21 06:32:47 +00:00
parent 567bcbc0d0
commit 0a0f6a6054
107 changed files with 48783 additions and 2 deletions
--- a/thirdparty/py_trees/demos/blackboard_namespaces.py
+++ b/thirdparty/py_trees/demos/blackboard_namespaces.py
@@ -0,0 +1,129 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+.. argparse::
+   :module: py_trees.demos.blackboard_namespaces
+   :func: command_line_argument_parser
+   :prog: py-trees-demo-blackboard-namespaces
+
+.. figure:: images/blackboard_namespaces.png
+   :align: center
+
+   Console Screenshot
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+import argparse
+import py_trees
+
+
+import py_trees.console as console
+
+##############################################################################
+# Classes
+##############################################################################
+
+
+def description():
+    content = "Demonstrates usage of blackboard namespaces.\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 + "Blackboard".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
+
+
+##############################################################################
+# 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("-------------------------------------------------------------------------------")
+    blackboard = py_trees.blackboard.Client(name="Blackboard")
+    blackboard.register_key(key="dude", access=py_trees.common.Access.WRITE)
+    blackboard.register_key(key="/dudette", access=py_trees.common.Access.WRITE)
+    blackboard.register_key(key="/foo/bar/wow", access=py_trees.common.Access.WRITE)
+    print(blackboard)
+    print("-------------------------------------------------------------------------------")
+    print("$ blackboard.dude = 'Bob'")
+    print("$ blackboard.dudette = 'Jade'")
+    print("-------------------------------------------------------------------------------")
+    blackboard.dude = "Bob"
+    blackboard.dudette = "Jade"
+    print(py_trees.display.unicode_blackboard())
+    print("-------------------------------------------------------------------------------")
+    print("$ blackboard.foo.bar.wow = 'foobar'")
+    print("-------------------------------------------------------------------------------")
+    blackboard.foo.bar.wow = "foobar"
+    print(py_trees.display.unicode_blackboard())
+    print("-------------------------------------------------------------------------------")
+    print("$ py_trees.blackboard.Client(name='Foo', namespace='foo')")
+    print("$ foo.register_key(key='awesome', access=py_trees.common.Access.WRITE)")
+    print("$ foo.register_key(key='/brilliant', access=py_trees.common.Access.WRITE)")
+    print("$ foo.register_key(key='/foo/clever', access=py_trees.common.Access.WRITE)")
+    print("-------------------------------------------------------------------------------")
+    foo = py_trees.blackboard.Client(name="Foo", namespace="foo")
+    foo.register_key(key="awesome", access=py_trees.common.Access.WRITE)
+    # TODO: should /brilliant be namespaced or go directly to root?
+    foo.register_key(key="/brilliant", access=py_trees.common.Access.WRITE)
+    # absolute names are ok, so long as they include the namespace
+    foo.register_key(key="/foo/clever", access=py_trees.common.Access.WRITE)
+    print(foo)
+    print("-------------------------------------------------------------------------------")
+    print("$ foo.awesome = True")
+    print("$ foo.set('/brilliant', False)")
+    print("$ foo.clever = True")
+    print("-------------------------------------------------------------------------------")
+    foo.awesome = True
+    # Only accessable via set since it's not in the namespace
+    foo.set("/brilliant", False)
+    # This will fail since it looks for the namespaced /foo/brilliant key
+    # foo.brilliant = False
+    foo.clever = True
+    print(py_trees.display.unicode_blackboard())