#!/usr/bin/env python
#
# License: BSD
# https://raw.githubusercontent.com/stonier/py_trees/devel/LICENSE
#
##############################################################################
# Documentation
##############################################################################
"""
.. argparse::
:module: py_trees.demos.selector
:func: command_line_argument_parser
:prog: py-trees-demo-selector
.. graphviz:: dot/demo-selector.dot
.. image:: images/selector.gif
"""
##############################################################################
# Imports
##############################################################################
import argparse
import py_trees
import sys
import time
import py_trees.console as console
##############################################################################
# Classes
##############################################################################
def description():
content = "Higher priority switching and interruption in the children of a selector.\n"
content += "\n"
content += "In this example the higher priority child is setup to fail initially,\n"
content += "falling back to the continually running second child. On the third\n"
content += "tick, the first child succeeds and cancels the hitherto running child.\n"
if py_trees.console.has_colours:
banner_line = console.green + "*" * 79 + "\n" + console.reset
s = "\n"
s += banner_line
s += console.bold_white + "Selectors".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_tree():
root = py_trees.composites.Selector("Selector")
success_after_two = py_trees.behaviours.Count(name="After Two",
fail_until=2,
running_until=2,
success_until=10)
always_running = py_trees.behaviours.Running(name="Running")
root.add_children([success_after_two, always_running])
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
tree = create_tree()
####################
# Rendering
####################
if args.render:
py_trees.display.render_dot_tree(tree)
sys.exit()
####################
# Execute
####################
tree.setup(timeout=15)
for i in range(1, 4):
try:
print("\n--------- Tick {0} ---------\n".format(i))
tree.tick_once()
print("\n")
py_trees.display.print_ascii_tree(tree, show_status=True)
time.sleep(1.0)
except KeyboardInterrupt:
break
print("\n")