#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
A py_trees demo.
.. 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 typing
import py_trees
import py_trees.console as console
##############################################################################
# Classes
##############################################################################
[docs]def description() -> str:
"""
Print description and usage information about the program.
Returns:
the program description string
"""
content = "Demonstrates usage of blackboard namespaces.\n"
content += "\n"
if py_trees.console.has_colours:
banner_line = console.green + "*" * 79 + "\n" + console.reset
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
[docs]def epilog() -> typing.Optional[str]:
"""
Print a noodly epilog for --help.
Returns:
the noodly message
"""
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
[docs]def command_line_argument_parser() -> argparse.ArgumentParser:
"""
Process command line arguments.
Returns:
the argument parser
"""
parser = argparse.ArgumentParser(
description=description(),
epilog=epilog(),
formatter_class=argparse.RawDescriptionHelpFormatter,
)
return parser
##############################################################################
# Main
##############################################################################
[docs]def main() -> None:
"""Entry point for the demo script."""
_ = (
command_line_argument_parser().parse_args()
) # configuration only, no args to process
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())