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/stewardship.py

@@ -0,0 +1,201 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+.. argparse::
+   :module: py_trees.demos.stewardship
+   :func: command_line_argument_parser
+   :prog: py-trees-demo-tree-stewardship
+
+.. graphviz:: dot/demo-tree-stewardship.dot
+
+.. image:: images/tree_stewardship.gif
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+import argparse
+import py_trees
+import sys
+import time
+
+import py_trees.console as console
+
+##############################################################################
+# Classes
+##############################################################################
+
+
+def description():
+    content = "A demonstration of tree stewardship.\n\n"
+    content += "A slightly less trivial tree that uses a simple stdout pre-tick handler\n"
+    content += "and both the debug and snapshot visitors for logging and displaying\n"
+    content += "the state of the tree.\n"
+    content += "\n"
+    content += "EVENTS\n"
+    content += "\n"
+    content += " -  3 : sequence switches from running to success\n"
+    content += " -  4 : selector's first child flicks to success once only\n"
+    content += " -  8 : the fallback idler kicks in as everything else fails\n"
+    content += " - 14 : the first child kicks in again, aborting a running sequence behind it\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 + "Trees".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,
+                                     )
+    group = parser.add_mutually_exclusive_group()
+    group.add_argument('-r', '--render', action='store_true', help='render dot tree to file')
+    group.add_argument(
+        '--render-with-blackboard-variables',
+        action='store_true',
+        help='render dot tree to file with blackboard variables'
+    )
+    group.add_argument('-i', '--interactive', action='store_true', help='pause and wait for keypress at each tick')
+    return parser
+
+
+def pre_tick_handler(behaviour_tree):
+    print("\n--------- Run %s ---------\n" % behaviour_tree.count)
+
+
+class SuccessEveryN(py_trees.behaviours.SuccessEveryN):
+    def __init__(self):
+        super().__init__(name="EveryN", n=5)
+        self.blackboard = self.attach_blackboard_client(name=self.name)
+        self.blackboard.register_key("count", access=py_trees.common.Access.WRITE)
+
+    def update(self):
+        status = super().update()
+        self.blackboard.count = self.count
+        return status
+
+
+class PeriodicSuccess(py_trees.behaviours.Periodic):
+    def __init__(self):
+        super().__init__(name="Periodic", n=3)
+        self.blackboard = self.attach_blackboard_client(name=self.name)
+        self.blackboard.register_key("period", access=py_trees.common.Access.WRITE)
+
+    def update(self):
+        status = super().update()
+        self.blackboard.period = self.period
+        return status
+
+
+class Finisher(py_trees.behaviour.Behaviour):
+    def __init__(self):
+        super().__init__(name="Finisher")
+        self.blackboard = self.attach_blackboard_client(name=self.name)
+        self.blackboard.register_key("count", access=py_trees.common.Access.READ)
+        self.blackboard.register_key("period", access=py_trees.common.Access.READ)
+
+    def update(self):
+        print(console.green + "---------------------------" + console.reset)
+        print(console.bold + "        Finisher" + console.reset)
+        print(console.green + "  Count : {}".format(self.blackboard.count) + console.reset)
+        print(console.green + "  Period: {}".format(self.blackboard.period) + console.reset)
+        print(console.green + "---------------------------" + console.reset)
+        return py_trees.common.Status.SUCCESS
+
+
+def create_tree():
+    every_n_success = SuccessEveryN()
+    sequence = py_trees.composites.Sequence(name="Sequence")
+    guard = py_trees.behaviours.Success("Guard")
+    periodic_success = PeriodicSuccess()
+    finisher = Finisher()
+    sequence.add_child(guard)
+    sequence.add_child(periodic_success)
+    sequence.add_child(finisher)
+    idle = py_trees.behaviours.Success("Idle")
+    root = py_trees.composites.Selector(name="Demo Tree")
+    root.add_child(every_n_success)
+    root.add_child(sequence)
+    root.add_child(idle)
+    return root
+
+
+##############################################################################
+# Main
+##############################################################################
+
+def main():
+    """
+    Entry point for the demo script.
+    """
+    args = command_line_argument_parser().parse_args()
+    py_trees.logging.level = py_trees.logging.Level.DEBUG
+    tree = create_tree()
+    print(description())
+
+    ####################
+    # Rendering
+    ####################
+    if args.render:
+        py_trees.display.render_dot_tree(tree)
+        sys.exit()
+
+    if args.render_with_blackboard_variables:
+        py_trees.display.render_dot_tree(tree, with_blackboard_variables=True)
+        sys.exit()
+
+    ####################
+    # Tree Stewardship
+    ####################
+    py_trees.blackboard.Blackboard.enable_activity_stream(100)
+    behaviour_tree = py_trees.trees.BehaviourTree(tree)
+    behaviour_tree.add_pre_tick_handler(pre_tick_handler)
+    behaviour_tree.visitors.append(py_trees.visitors.DebugVisitor())
+    behaviour_tree.visitors.append(
+        py_trees.visitors.DisplaySnapshotVisitor(
+            display_blackboard=True,
+            display_activity_stream=True)
+    )
+    behaviour_tree.setup(timeout=15)
+
+    ####################
+    # Tick Tock
+    ####################
+    if args.interactive:
+        py_trees.console.read_single_keypress()
+    while True:
+        try:
+            behaviour_tree.tick()
+            if args.interactive:
+                py_trees.console.read_single_keypress()
+            else:
+                time.sleep(0.5)
+        except KeyboardInterrupt:
+            break
+    print("\n")