#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/stonier/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
.. 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 py_trees
import py_trees.console as console
##############################################################################
# Classes
##############################################################################
def description():
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 = "\n"
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
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,
)
parser.add_argument('-l', '--level', action='store',
default='fine_detail',
choices=['all', 'fine_detail', 'detail', 'component', 'big_picture'],
help='visibility level')
return parser
def create_tree(level):
root = py_trees.composites.Selector("Demo Dot Graphs %s" % level)
first_blackbox = py_trees.composites.Sequence("BlackBox 1")
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("Blackbox 2")
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("Blackbox 3")
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():
"""
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("")