#!/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())