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

thirdparty/py_trees/demos/lifecycle.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+.. argparse::
+   :module: py_trees.demos.lifecycle
+   :func: command_line_argument_parser
+   :prog: py-trees-demo-behaviour-lifecycle
+
+.. image:: images/lifecycle.gif
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+import argparse
+import py_trees
+import time
+
+import py_trees.console as console
+
+##############################################################################
+# Classes
+##############################################################################
+
+
+def description():
+    content = "Demonstrates a typical day in the life of a behaviour.\n\n"
+    content += "This behaviour will count from 1 to 3 and then reset and repeat. As it does\n"
+    content += "so, it logs and displays the methods as they are called - construction, setup,\n"
+    content += "initialisation, ticking and termination.\n"
+    if py_trees.console.has_colours:
+        banner_line = console.green + "*" * 79 + "\n" + console.reset
+        s = "\n"
+        s += banner_line
+        s += console.bold_white + "Behaviour Lifecycle".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():
+    return argparse.ArgumentParser(description=description(),
+                                   epilog=epilog(),
+                                   formatter_class=argparse.RawDescriptionHelpFormatter,
+                                   )
+
+
+class Counter(py_trees.behaviour.Behaviour):
+    """
+    Simple counting behaviour that facilitates the demonstration of a behaviour in
+    the demo behaviours lifecycle program.
+
+    * Increments a counter from zero at each tick
+    * Finishes with success if the counter reaches three
+    * Resets the counter in the initialise() method.
+    """
+    def __init__(self, name="Counter"):
+        """
+        Default construction.
+        """
+        super(Counter, self).__init__(name)
+        self.logger.debug("%s.__init__()" % (self.__class__.__name__))
+
+    def setup(self):
+        """
+        No delayed initialisation required for this example.
+        """
+        self.logger.debug("%s.setup()" % (self.__class__.__name__))
+
+    def initialise(self):
+        """
+        Reset a counter variable.
+        """
+        self.logger.debug("%s.initialise()" % (self.__class__.__name__))
+        self.counter = 0
+
+    def update(self):
+        """
+        Increment the counter and decide upon a new status result for the behaviour.
+        """
+        self.counter += 1
+        new_status = py_trees.common.Status.SUCCESS if self.counter == 3 else py_trees.common.Status.RUNNING
+        if new_status == py_trees.common.Status.SUCCESS:
+            self.feedback_message = "counting...{0} - phew, thats enough for today".format(self.counter)
+        else:
+            self.feedback_message = "still counting"
+        self.logger.debug("%s.update()[%s->%s][%s]" % (self.__class__.__name__, self.status, new_status, self.feedback_message))
+        return new_status
+
+    def terminate(self, new_status):
+        """
+        Nothing to clean up in this example.
+        """
+        self.logger.debug("%s.terminate()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+
+
+##############################################################################
+# Main
+##############################################################################
+
+def main():
+    """
+    Entry point for the demo script.
+    """
+    command_line_argument_parser().parse_args()
+
+    print(description())
+
+    py_trees.logging.level = py_trees.logging.Level.DEBUG
+
+    counter = Counter()
+    counter.setup()
+    try:
+        for unused_i in range(0, 7):
+            counter.tick_once()
+            time.sleep(0.5)
+        print("\n")
+    except KeyboardInterrupt:
+        print("")
+        pass