146 lines
5.6 KiB
Python
146 lines
5.6 KiB
Python
#!/usr/bin/env python
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#
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# License: BSD
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# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
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#
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##############################################################################
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# Documentation
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##############################################################################
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"""
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.. argparse::
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:module: py_trees.programs.render
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:func: command_line_argument_parser
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:prog: py-trees-render
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.. image:: images/render.gif
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"""
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##############################################################################
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# Imports
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##############################################################################
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import argparse
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import importlib
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import json
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import py_trees
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import sys
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import py_trees.console as console
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##############################################################################
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# Classes
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##############################################################################
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def examples():
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examples = [console.cyan + "py-trees-render" + console.yellow + " py_trees.demos.stewardship.create_tree" + console.reset,
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console.cyan + "py-trees-render" + console.yellow + " --with-blackboard-variables" + console.reset,
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console.cyan + "py-trees-render" + console.yellow + " --name=foo py_trees.demos.stewardship.create_tree" + console.reset,
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console.cyan + "py-trees-render" + console.yellow + " --kwargs='{\"level\":\"all\"}' py_trees.demos.dot_graphs.create_tree" + console.reset
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]
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return examples
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def description():
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short = "Point this program at a method which creates a root to render to dot/svg/png.\n\n"
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if py_trees.console.has_colours:
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banner_line = console.green + "*" * 79 + "\n" + console.reset
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s = "\n"
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s += banner_line
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s += console.bold_white + "Trees".center(79) + "\n" + console.reset
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s += banner_line
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s += "\n"
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s += short
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s += "\n"
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s += console.bold + "Examples" + console.reset + "\n\n"
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s += '\n'.join([" $ " + example for example in examples()])
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s += "\n\n"
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s += banner_line
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else:
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# for sphinx documentation (doesn't like raw text)
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s = short
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s += "\n"
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s += console.bold + "**Examples**" + console.reset + "\n\n"
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s += ".. code-block:: bash\n"
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s += " \n"
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s += '\n'.join([" $ {0}".format(example) for example in examples()])
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s += "\n"
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return s
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def epilog():
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if py_trees.console.has_colours:
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return console.cyan + "And his noodly appendage reached forth to tickle the blessed...\n" + console.reset
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else:
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return None
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def command_line_argument_parser():
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parser = argparse.ArgumentParser(description=description(),
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epilog=epilog(),
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formatter_class=argparse.RawDescriptionHelpFormatter,
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)
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parser.add_argument('method', default=None, help='space separated list of blackboard variables to watch')
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parser.add_argument('-l', '--level', action='store',
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default='fine_detail',
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choices=['all', 'fine_detail', 'detail', 'component', 'big_picture'],
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help='visibility level')
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parser.add_argument('-n', '--name', default=None, help='name to use for the created files (defaults to the root behaviour name)')
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parser.add_argument('-k', '--kwargs', default="{}", type=json.loads, help='dictionary of keyword arguments to the method')
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parser.add_argument('-b', '--with-blackboard-variables', default=False, action='store_true', help='add nodes for the blackboard variables')
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parser.add_argument('-v', '--verbose', default=False, action='store_true', help="embellish each node in the dot graph with extra information")
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return parser
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##############################################################################
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# Main
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##############################################################################
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def main():
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"""
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Entry point.
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"""
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args = command_line_argument_parser().parse_args()
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args.enum_level = py_trees.common.string_to_visibility_level(args.level)
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(module_or_class_name, method_name) = args.method.rsplit(".", 1)
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class_name = None
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try:
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module_itself = importlib.import_module(module_or_class_name)
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module_name = module_or_class_name
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except ImportError:
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# maybe it's a class?
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(module_name, class_name) = module_or_class_name.rsplit(".", 1)
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try:
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module_itself = importlib.import_module(module_name)
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except ImportError:
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console.logerror("Could not import module [{0}]".format(module_or_class_name))
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sys.exit(1)
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if class_name is not None:
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class_type = getattr(module_itself, class_name)
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# first guess - it's a static method
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method_itself = getattr(class_type, method_name)
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try:
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root = method_itself(**(args.kwargs))
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except TypeError: # oops, it's an instance method
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try:
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method_itself = getattr(class_type(), method_name)
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except TypeError:
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console.logerror("Can only instantiate class methods if the class __init__ has no non-default arguments")
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sys.exit(1)
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root = method_itself(**(args.kwargs))
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else:
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method_itself = getattr(module_itself, method_name)
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root = method_itself(**(args.kwargs))
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# TODO figure out how to insert keyword arguments
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py_trees.display.render_dot_tree(
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root,
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args.enum_level,
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args.name,
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with_blackboard_variables=args.with_blackboard_variables,
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with_qualified_names=args.verbose
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)
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