Source code for py_trees.demos.dot_graphs

#!/usr/bin/env python
#
# License: BSD
#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
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"""
A py_trees demo.

.. argparse::
   :module: py_trees.demos.dot_graphs
   :func: command_line_argument_parser
   :prog: py-trees-demo-dot-graphs

.. graphviz:: dot/demo-dot-graphs.dot

"""

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# Imports
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import argparse
import subprocess
import typing

import py_trees
import py_trees.console as console

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# Classes
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[docs]def description() -> str: """ Print description and usage information about the program. Returns: the program description string """ name = "py-trees-demo-dot-graphs" content = "Renders a dot graph for a simple tree, with blackboxes.\n" if py_trees.console.has_colours: banner_line = console.green + "*" * 79 + "\n" + console.reset s = banner_line s += console.bold_white + "Dot Graphs".center(79) + "\n" + console.reset s += banner_line s += "\n" s += content s += "\n" s += console.white s += console.bold + " Generate Full Dot Graph" + console.reset + "\n" s += "\n" s += console.cyan + " {0}".format(name) + console.reset + "\n" s += "\n" s += console.bold + " With Varying Visibility Levels" + console.reset + "\n" s += "\n" s += ( console.cyan + " {0}".format(name) + console.yellow + " --level=all" + console.reset + "\n" ) s += ( console.cyan + " {0}".format(name) + console.yellow + " --level=detail" + console.reset + "\n" ) s += ( console.cyan + " {0}".format(name) + console.yellow + " --level=component" + console.reset + "\n" ) s += ( console.cyan + " {0}".format(name) + console.yellow + " --level=big_picture" + console.reset + "\n" ) 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, ) parser.add_argument( "-l", "--level", action="store", default="fine_detail", choices=["all", "fine_detail", "detail", "component", "big_picture"], help="visibility level", ) return parser
[docs]def create_tree(level: str) -> py_trees.behaviour.Behaviour: """ Create the root behaviour and it's subtree. Returns: the root behaviour """ root = py_trees.composites.Selector(name="Demo Dot Graphs %s" % level, memory=False) first_blackbox = py_trees.composites.Sequence(name="BlackBox 1", memory=True) first_blackbox.add_child(py_trees.behaviours.Running("Worker")) first_blackbox.add_child(py_trees.behaviours.Running("Worker")) first_blackbox.add_child(py_trees.behaviours.Running("Worker")) first_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.BIG_PICTURE second_blackbox = py_trees.composites.Sequence(name="Blackbox 2", memory=True) second_blackbox.add_child(py_trees.behaviours.Running("Worker")) second_blackbox.add_child(py_trees.behaviours.Running("Worker")) second_blackbox.add_child(py_trees.behaviours.Running("Worker")) second_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.COMPONENT third_blackbox = py_trees.composites.Sequence(name="Blackbox 3", memory=True) third_blackbox.add_child(py_trees.behaviours.Running("Worker")) third_blackbox.add_child(py_trees.behaviours.Running("Worker")) third_blackbox.add_child(py_trees.behaviours.Running("Worker")) third_blackbox.blackbox_level = py_trees.common.BlackBoxLevel.DETAIL root.add_child(first_blackbox) root.add_child(second_blackbox) first_blackbox.add_child(third_blackbox) return root
############################################################################## # Main ##############################################################################
[docs]def main() -> None: """Entry point for the demo script.""" args = command_line_argument_parser().parse_args() args.enum_level = py_trees.common.string_to_visibility_level(args.level) print(description()) py_trees.logging.level = py_trees.logging.Level.DEBUG root = create_tree(args.level) py_trees.display.render_dot_tree(root, args.enum_level) if py_trees.utilities.which("xdot"): try: subprocess.call(["xdot", "demo_dot_graphs_%s.dot" % args.level]) except KeyboardInterrupt: pass else: print("") console.logerror( "No xdot viewer found, skipping display [hint: sudo apt install xdot]" ) print("")