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/programs/__init__.py

@@ -0,0 +1,17 @@
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+This package contains py_trees program script code.
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+from . import render  # noqa

thirdparty/py_trees/programs/render.py

@@ -0,0 +1,145 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+.. argparse::
+   :module: py_trees.programs.render
+   :func: command_line_argument_parser
+   :prog: py-trees-render
+
+.. image:: images/render.gif
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+import argparse
+import importlib
+import json
+import py_trees
+import sys
+
+import py_trees.console as console
+
+##############################################################################
+# Classes
+##############################################################################
+
+
+def examples():
+    examples = [console.cyan + "py-trees-render" + console.yellow + " py_trees.demos.stewardship.create_tree" + console.reset,
+                console.cyan + "py-trees-render" + console.yellow + " --with-blackboard-variables" + console.reset,
+                console.cyan + "py-trees-render" + console.yellow + " --name=foo py_trees.demos.stewardship.create_tree" + console.reset,
+                console.cyan + "py-trees-render" + console.yellow + " --kwargs='{\"level\":\"all\"}' py_trees.demos.dot_graphs.create_tree" + console.reset
+                ]
+    return examples
+
+
+def description():
+    short = "Point this program at a method which creates a root to render to dot/svg/png.\n\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 += short
+        s += "\n"
+        s += console.bold + "Examples" + console.reset + "\n\n"
+        s += '\n'.join(["    $ " + example for example in examples()])
+        s += "\n\n"
+        s += banner_line
+    else:
+        # for sphinx documentation (doesn't like raw text)
+        s = short
+        s += "\n"
+        s += console.bold + "**Examples**" + console.reset + "\n\n"
+        s += ".. code-block:: bash\n"
+        s += "    \n"
+        s += '\n'.join(["    $ {0}".format(example) for example in examples()])
+        s += "\n"
+    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,
+                                     )
+    parser.add_argument('method', default=None, help='space separated list of blackboard variables to watch')
+    parser.add_argument('-l', '--level', action='store',
+                        default='fine_detail',
+                        choices=['all', 'fine_detail', 'detail', 'component', 'big_picture'],
+                        help='visibility level')
+    parser.add_argument('-n', '--name', default=None, help='name to use for the created files (defaults to the root behaviour name)')
+    parser.add_argument('-k', '--kwargs', default="{}", type=json.loads, help='dictionary of keyword arguments to the method')
+    parser.add_argument('-b', '--with-blackboard-variables', default=False, action='store_true', help='add nodes for the blackboard variables')
+    parser.add_argument('-v', '--verbose', default=False, action='store_true', help="embellish each node in the dot graph with extra information")
+    return parser
+
+
+##############################################################################
+# Main
+##############################################################################
+
+def main():
+    """
+    Entry point.
+    """
+    args = command_line_argument_parser().parse_args()
+    args.enum_level = py_trees.common.string_to_visibility_level(args.level)
+    (module_or_class_name, method_name) = args.method.rsplit(".", 1)
+    class_name = None
+
+    try:
+        module_itself = importlib.import_module(module_or_class_name)
+        module_name = module_or_class_name
+    except ImportError:
+        # maybe it's a class?
+        (module_name, class_name) = module_or_class_name.rsplit(".", 1)
+        try:
+            module_itself = importlib.import_module(module_name)
+        except ImportError:
+            console.logerror("Could not import module [{0}]".format(module_or_class_name))
+            sys.exit(1)
+    if class_name is not None:
+        class_type = getattr(module_itself, class_name)
+        # first guess - it's a static method
+        method_itself = getattr(class_type, method_name)
+        try:
+            root = method_itself(**(args.kwargs))
+        except TypeError:  # oops, it's an instance method
+            try:
+                method_itself = getattr(class_type(), method_name)
+            except TypeError:
+                console.logerror("Can only instantiate class methods if the class __init__ has no non-default arguments")
+                sys.exit(1)
+            root = method_itself(**(args.kwargs))
+    else:
+        method_itself = getattr(module_itself, method_name)
+        root = method_itself(**(args.kwargs))
+
+    # TODO figure out how to insert keyword arguments
+    py_trees.display.render_dot_tree(
+        root,
+        args.enum_level,
+        args.name,
+        with_blackboard_variables=args.with_blackboard_variables,
+        with_qualified_names=args.verbose
+    )