#!/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.dot_graphs
:func: command_line_argument_parser
:prog: py-trees-demo-dot-graphs
.. graphviz:: dot/demo-dot-graphs.dot
"""
##############################################################################
# Imports
##############################################################################
import argparse
import subprocess
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
"""
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("")