#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
.. argparse::
:module: py_trees.demos.sequence
:func: command_line_argument_parser
:prog: py-trees-demo-sequence
.. graphviz:: dot/demo-sequence.dot
.. image:: images/sequence.gif
"""
##############################################################################
# Imports
##############################################################################
import argparse
import py_trees
import sys
import time
import py_trees.console as console
##############################################################################
# Classes
##############################################################################
def description():
content = "Demonstrates sequences in action.\n\n"
content += "A sequence is populated with 2-tick jobs that are allowed to run through to\n"
content += "completion.\n"
if py_trees.console.has_colours:
banner_line = console.green + "*" * 79 + "\n" + console.reset
s = "\n"
s += banner_line
s += console.bold_white + "Sequences".center(79) + "\n" + console.reset
s += banner_line
s += "\n"
s += content
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('-r', '--render', action='store_true', help='render dot tree to file')
return parser
def create_root():
root = py_trees.composites.Sequence("Sequence")
for action in ["Action 1", "Action 2", "Action 3"]:
success_after_two = py_trees.behaviours.Count(name=action,
fail_until=0,
running_until=1,
success_until=10)
root.add_child(success_after_two)
return root
##############################################################################
# Main
##############################################################################
[docs]def main():
"""
Entry point for the demo script.
"""
args = command_line_argument_parser().parse_args()
print(description())
py_trees.logging.level = py_trees.logging.Level.DEBUG
root = create_root()
####################
# Rendering
####################
if args.render:
py_trees.display.render_dot_tree(root)
sys.exit()
####################
# Execute
####################
root.setup_with_descendants()
for i in range(1, 6):
try:
print("\n--------- Tick {0} ---------\n".format(i))
root.tick_once()
print("\n")
print(py_trees.display.unicode_tree(root=root, show_status=True))
time.sleep(1.0)
except KeyboardInterrupt:
break
print("\n")