#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
.. argparse::
:module: py_trees.demos.blackboard_remappings
:func: command_line_argument_parser
:prog: py-trees-demo-blackboard-remappings
.. figure:: images/blackboard_remappings.png
:align: center
Console Screenshot
"""
##############################################################################
# Imports
##############################################################################
import argparse
import py_trees
import typing
import py_trees.console as console
##############################################################################
# Classes
##############################################################################
def description():
content = "Demonstrates usage of blackbord remappings.\n"
content += "\n"
content += "Demonstration is via an exemplar behaviour making use of remappings..\n"
if py_trees.console.has_colours:
banner_line = console.green + "*" * 79 + "\n" + console.reset
s = "\n"
s += banner_line
s += console.bold_white + "Blackboard".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,
)
return parser
[docs]class Remap(py_trees.behaviour.Behaviour):
"""
Custom writer that submits a more complicated variable to the blackboard.
"""
[docs] def __init__(self, name: str="Writer", remap_to: typing.Dict[str, str]=None):
super().__init__(name=name)
self.logger.debug("%s.__init__()" % (self.__class__.__name__))
self.blackboard = self.attach_blackboard_client()
self.blackboard.register_key(
key="/foo/bar/wow",
access=py_trees.common.Access.WRITE,
remap_to=remap_to["/foo/bar/wow"]
)
[docs] def update(self):
"""
Write a dictionary to the blackboard and return :data:`~py_trees.common.Status.SUCCESS`.
"""
self.logger.debug("%s.update()" % (self.__class__.__name__))
self.blackboard.foo.bar.wow = "colander"
return py_trees.common.Status.SUCCESS
##############################################################################
# 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
py_trees.blackboard.Blackboard.enable_activity_stream(maximum_size=100)
root = Remap(name="Remap", remap_to={"/foo/bar/wow": "/parameters/wow"})
####################
# Execute
####################
root.tick_once()
print(root.blackboard)
print(py_trees.display.unicode_blackboard())
print(py_trees.display.unicode_blackboard_activity_stream())