#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/stonier/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
Behaviour trees are significantly easier to design, monitor and debug
with visualisations. Py Trees does provide minimal assistance to render
trees to various simple output formats. Currently this includes dot graphs,
strings or stdout.
"""
##############################################################################
# Imports
##############################################################################
import os
import pydot
from . import behaviour
from . import common
from . import composites
from . import console
from . import decorators
from . import utilities
##############################################################################
# Methods
##############################################################################
[docs]@utilities.static_variables(
type_to_unicode={
composites.Sequence: "[-] ",
composites.Selector: "[o] ",
composites.Parallel: "[" + console.double_vertical_line + "] ",
decorators.Decorator: "-^- ",
behaviour.Behaviour: "--> "
}
)
def ascii_bullet(node):
"""
Generate a text bullet for the specified behaviour's type.
Args:
node (:class:`~py_trees.behaviour.Behaviour`): convert this behaviour's type to text
Returns:
:obj:`str`): the text bullet
"""
for behaviour_type in [composites.Sequence,
composites.Selector,
composites.Parallel,
decorators.Decorator]:
if isinstance(node, behaviour_type):
return ascii_bullet.type_to_unicode[behaviour_type]
return ascii_bullet.type_to_unicode[behaviour.Behaviour]
[docs]@utilities.static_variables(
status_to_unicode={
common.Status.SUCCESS: console.green + console.check_mark + console.reset,
common.Status.FAILURE: console.red + console.multiplication_x + console.reset,
common.Status.INVALID: console.yellow + u'-' + console.reset,
common.Status.RUNNING: console.blue + u'*' + console.reset
}
)
def ascii_check_mark(status):
"""
Generate a text check mark for the specified status.
Args:
status (:class:`~py_trees.common.Status`): convert this status to text
Returns:
:obj:`str`): the text check mark
"""
return ascii_check_mark.status_to_unicode[status]
def _generate_ascii_tree(tree, indent=0, snapshot_information=None):
"""
Generator for spinning out the ascii tree.
Args:
tree (:class:`~py_trees.behaviour.Behaviour`): the root of the tree, or subtree you want to show
indent (:obj:`int`): the number of characters to indent the tree
snapshot_information (:mod:`~py_trees.visitors`): a visitor that recorded information about a traversed tree (e.g. :class:`~py_trees.visitors.SnapshotVisitor`)
Yields:
:obj:`str`: a string with information about a single behaviour in the tree
"""
nodes = {} if snapshot_information is None else snapshot_information.nodes
previously_running_nodes = [] if snapshot_information is None else snapshot_information.previously_running_nodes
running_nodes = [] if snapshot_information is None else snapshot_information.running_nodes
if indent == 0:
if tree.id in nodes:
yield "%s [%s]" % (tree.name.replace('\n', ' '), ascii_check_mark(nodes[tree.id]))
elif tree.id in previously_running_nodes and tree.id not in running_nodes:
yield "%s" % tree.name.replace('\n', ' ') + " [" + console.yellow + "-" + console.reset + "]"
else:
yield "%s" % tree.name.replace('\n', ' ')
for child in tree.children:
bullet = ascii_bullet(child)
if child.id in nodes:
message = "" if not child.feedback_message else " -- " + child.feedback_message
yield " " * indent + bullet + child.name.replace('\n', ' ') + " [%s]" % ascii_check_mark(nodes[child.id]) + message
elif child.id in previously_running_nodes and child.id not in running_nodes:
yield " " * indent + bullet + child.name.replace('\n', ' ') + " [" + console.yellow + "-" + console.reset + "]"
else:
yield " " * indent + bullet + child.name.replace('\n', ' ')
if child.children != []:
for line in _generate_ascii_tree(child, indent + 1, snapshot_information):
yield line
[docs]def ascii_tree(tree, indent=0, snapshot_information=None):
"""
Build an ascii tree representation as a string for redirecting
to elsewhere other than stdout. This can be the entire tree, or
a recorded snapshot of the tree (i.e. just the part that was traversed).
Args:
tree (:class:`~py_trees.behaviour.Behaviour`): the root of the tree, or subtree you want to show
indent (:obj:`int`): the number of characters to indent the tree
snapshot_information (:mod:`~py_trees.visitors`): a visitor that recorded information about a traversed tree (e.g. :class:`~py_trees.visitors.SnapshotVisitor`)
snapshot_information (:mod:`~py_trees.visitors`): a visitor that recorded information about a traversed tree (e.g. :class:`~py_trees.visitors.SnapshotVisitor`)
Returns:
:obj:`str`: an ascii tree (i.e. in string form)
Examples:
Use the :class:`~py_trees.visitors.SnapshotVisitor`
and :class:`~py_trees.trees.BehaviourTree`
to generate snapshot information at each tick and feed that to
a post tick handler that will print the traversed ascii tree
complete with status and feedback messages.
.. image:: images/ascii_tree.png
:width: 200px
:align: right
.. code-block:: python
def post_tick_handler(snapshot_visitor, behaviour_tree):
print(py_trees.display.ascii_tree(behaviour_tree.root,
snapshot_information=snapshot_visitor))
root = py_trees.composites.Sequence("Sequence")
for action in ["Action 1", "Action 2", "Action 3"]:
b = py_trees.behaviours.Count(
name=action,
fail_until=0,
running_until=1,
success_until=10)
root.add_child(b)
behaviour_tree = py_trees.trees.BehaviourTree(root)
snapshot_visitor = py_trees.visitors.SnapshotVisitor()
behaviour_tree.add_post_tick_handler(
functools.partial(post_tick_handler,
snapshot_visitor))
behaviour_tree.visitors.append(snapshot_visitor)
"""
s = ""
for line in _generate_ascii_tree(tree, indent, snapshot_information):
s += "%s\n" % line
return s
[docs]def print_ascii_tree(root, indent=0, show_status=False):
"""
Print the ASCII representation of an entire behaviour tree.
Args:
root (:class:`~py_trees.behaviour.Behaviour`): the root of the tree, or subtree you want to show
indent (:obj:`int`): the number of characters to indent the tree
show_status (:obj:`bool`): additionally show feedback message and status of every element
Examples:
Render a simple tree in ascii format to stdout.
.. image:: images/ascii_tree_simple.png
:width: 100px
:align: right
.. code-block:: python
root = py_trees.composites.Sequence("Sequence")
for action in ["Action 1", "Action 2", "Action 3"]:
b = py_trees.behaviours.Count(
name=action,
fail_until=0,
running_until=1,
success_until=10)
root.add_child(b)
py_trees.display.print_ascii_tree(root)
.. tip::
To additionally display status and feedbback message from every behaviour in the tree,
simply set the :obj:`show_status` flag to True.
"""
class InstantSnapshot(object):
def __init__(self, tree):
self.nodes = {}
self.previously_running_nodes = []
self.running_nodes = []
for node in tree.iterate():
self.nodes[node.id] = node.status
self.running_nodes.append(node.id)
self.previously_running_nodes = self.running_nodes
snapshot_information = InstantSnapshot(root) if show_status else None
for line in _generate_ascii_tree(root, indent, snapshot_information):
print("%s" % line)
[docs]def generate_pydot_graph(root, visibility_level, collapse_decorators, with_qualified_names):
"""
Generate the pydot graph - this is usually the first step in
rendering the tree to file. See also :py:func:`render_dot_tree`.
Args:
root (:class:`~py_trees.behaviour.Behaviour`): the root of a tree, or subtree
visibility_level (:class`~py_trees.common.VisibilityLevel`): collapse subtrees at or under this level
collapse_decorators (:obj:`bool`): only show the decorator (not the child)
with_qualified_names: (:obj:`bool`): print the class information for each behaviour in each node
Returns:
pydot.Dot: graph
"""
def get_node_attributes(node):
blackbox_font_colours = {common.BlackBoxLevel.DETAIL: "dodgerblue",
common.BlackBoxLevel.COMPONENT: "lawngreen",
common.BlackBoxLevel.BIG_PICTURE: "white"
}
if isinstance(node, composites.Chooser):
attributes = ('doubleoctagon', 'cyan', 'black') # octagon
elif isinstance(node, composites.Selector):
attributes = ('octagon', 'cyan', 'black') # octagon
elif isinstance(node, composites.Sequence):
attributes = ('box', 'orange', 'black')
elif isinstance(node, composites.Parallel):
attributes = ('parallelogram', 'gold', 'black')
elif isinstance(node, decorators.Decorator):
attributes = ('ellipse', 'ghostwhite', 'black')
else:
attributes = ('ellipse', 'gray', 'black')
if node.blackbox_level != common.BlackBoxLevel.NOT_A_BLACKBOX:
attributes = (attributes[0], 'gray20', blackbox_font_colours[node.blackbox_level])
return attributes
def get_node_label(node_name, behaviour):
"""
This extracts a more detailed string (when applicable) to append to
that which will be used for the node name.
"""
node_label = node_name
if behaviour.verbose_info_string():
node_label += "\n{}".format(behaviour.verbose_info_string())
if with_qualified_names:
node_label += "\n({})".format(utilities.get_fully_qualified_name(behaviour))
return node_label
fontsize = 9
graph = pydot.Dot(graph_type='digraph')
graph.set_name("pastafarianism") # consider making this unique to the tree sometime, e.g. based on the root name
# fonts: helvetica, times-bold, arial (times-roman is the default, but this helps some viewers, like kgraphviewer)
graph.set_graph_defaults(fontname='times-roman') # splines='curved' is buggy on 16.04, but would be nice to have
graph.set_node_defaults(fontname='times-roman')
graph.set_edge_defaults(fontname='times-roman')
(node_shape, node_colour, node_font_colour) = get_node_attributes(root)
node_root = pydot.Node(
root.name,
label=get_node_label(root.name, root),
shape=node_shape,
style="filled",
fillcolor=node_colour,
fontsize=fontsize,
fontcolor=node_font_colour)
graph.add_node(node_root)
names = [root.name]
def add_edges(root, root_dot_name, visibility_level, collapse_decorators):
if isinstance(root, decorators.Decorator) and collapse_decorators:
return
if visibility_level < root.blackbox_level:
for c in root.children:
(node_shape, node_colour, node_font_colour) = get_node_attributes(c)
node_name = c.name
while node_name in names:
node_name += "*"
names.append(node_name)
# Node attributes can be found on page 5 of
# https://graphviz.gitlab.io/_pages/pdf/dot.1.pdf
# Attributes that may be useful: tooltip, xlabel
node = pydot.Node(
node_name,
label=get_node_label(node_name, c),
shape=node_shape,
style="filled",
fillcolor=node_colour,
fontsize=fontsize,
fontcolor=node_font_colour,
)
graph.add_node(node)
edge = pydot.Edge(root_dot_name, node_name)
graph.add_edge(edge)
if c.children != []:
add_edges(c, node_name, visibility_level, collapse_decorators)
add_edges(root, root.name, visibility_level, collapse_decorators)
return graph
[docs]def stringify_dot_tree(root):
"""
Generate dot tree graphs and return a string representation
of the dot graph.
Args:
root (:class:`~py_trees.behaviour.Behaviour`): the root of a tree, or subtree
Returns:
:obj:`str`: dot graph as a string
"""
graph = generate_pydot_graph(root, visibility_level=common.VisibilityLevel.DETAIL)
return graph.to_string()
[docs]def render_dot_tree(root: behaviour.Behaviour,
visibility_level: common.VisibilityLevel=common.VisibilityLevel.DETAIL,
collapse_decorators: bool=False,
name: str=None,
target_directory: str=os.getcwd(),
with_qualified_names: bool=False):
"""
Render the dot tree to .dot, .svg, .png. files in the current
working directory. These will be named with the root behaviour name.
Args:
root (:class:`~py_trees.behaviour.Behaviour`): the root of a tree, or subtree
visibility_level (:class`~py_trees.common.VisibilityLevel`): collapse subtrees at or under this level
collapse_decorators (:obj:`bool`): only show the decorator (not the child)
name (:obj:`str`): name to use for the created files (defaults to the root behaviour name)
target_directory (:obj:`str`): default is to use the current working directory, set this to redirect elsewhere
with_qualified_names (:obj:`bool`): print the class names of each behaviour in the dot node
Example:
Render a simple tree to dot/svg/png file:
.. graphviz:: dot/sequence.dot
.. code-block:: python
root = py_trees.composites.Sequence("Sequence")
for job in ["Action 1", "Action 2", "Action 3"]:
success_after_two = py_trees.behaviours.Count(name=job,
fail_until=0,
running_until=1,
success_until=10)
root.add_child(success_after_two)
py_trees.display.render_dot_tree(root)
.. tip::
A good practice is to provide a command line argument for optional rendering of a program so users
can quickly visualise what tree the program will execute.
"""
graph = generate_pydot_graph(root, visibility_level, collapse_decorators, with_qualified_names=with_qualified_names)
filename_wo_extension_to_convert = root.name if name is None else name
filename_wo_extension = utilities.get_valid_filename(filename_wo_extension_to_convert)
filenames = {}
for extension, writer in {"dot": graph.write, "png": graph.write_png, "svg": graph.write_svg}.items():
filename = filename_wo_extension + '.' + extension
pathname = os.path.join(target_directory, filename)
print("Writing {}".format(pathname))
writer(pathname)
filenames[extension] = pathname
return filenames