robokudo.tree_components.render_dot
===================================

.. py:module:: robokudo.tree_components.render_dot

.. autoapi-nested-parse::

   Behavior tree visualization using DOT format.

   This module provides functionality to render behavior trees in DOT format for visualization.
   It supports both one-time rendering and decorator-based automatic rendering on status changes.

   The module provides:

   * Directory management for output
   * Threaded rendering for performance
   * Customizable rendering triggers
   * Tree traversal utilities



Classes
-------

.. autoapisummary::

   robokudo.tree_components.render_dot.RenderTreeToDot
   robokudo.tree_components.render_dot.RenderTreeToDotDecorator


Functions
---------

.. autoapisummary::

   robokudo.tree_components.render_dot.create_dir_if_not_exists
   robokudo.tree_components.render_dot.render_now


Module Contents
---------------

.. py:function:: create_dir_if_not_exists(path)

   Create directory if it doesn't exist.

   :param path: Directory path to create
   :type path: str


.. py:function:: render_now(behaviour: py_trees.Behaviour)

   Generate behavior tree snapshot and save to disk.

   This method:
   * Creates output directory if needed
   * Finds root of tree
   * Renders tree to DOT format
   * Updates rendering statistics

   :param behaviour: Behavior node requesting the render
   :type behaviour: py_trees.Behaviour


.. py:class:: RenderTreeToDot(path=None, suffix='')

   Bases: :py:obj:`py_trees.Behaviour`


   Behavior that renders tree to DOT format when ticked.

   This behavior renders the entire tree to DOT format each time it is ticked,
   saving the output to the specified directory.

   :ivar path: Output directory path
   :type path: str
   :ivar counter: Number of renders performed
   :type counter: int
   :ivar create_dir_for_path: Whether to create output directory
   :type create_dir_for_path: bool
   :ivar executor: Thread pool for rendering
   :type executor: ThreadPoolExecutor
   :ivar suffix: Suffix to append to output filenames
   :type suffix: str


   .. py:attribute:: path
      :value: None



   .. py:attribute:: counter
      :value: 0



   .. py:attribute:: create_dir_for_path
      :value: True



   .. py:attribute:: executor


   .. py:attribute:: suffix
      :value: ''



   .. py:method:: update()

      Render tree on each tick.

      :return: Always returns SUCCESS
      :rtype: :class:`py_trees.common.Status`



.. py:class:: RenderTreeToDotDecorator(child=None, path=None, suffix='', trigger_when_status_is=None)

   Bases: :py:obj:`py_trees.decorators.Decorator`


   Decorator that renders tree when child returns specific status.

   This decorator monitors its child's status and triggers a tree render
   when the status matches configured triggers.

   :ivar path: Output directory path
   :type path: str
   :ivar counter: Number of renders performed
   :type counter: int
   :ivar create_dir_for_path: Whether to create output directory
   :type create_dir_for_path: bool
   :ivar executor: Thread pool for rendering
   :type executor: ThreadPoolExecutor
   :ivar suffix: Suffix to append to output filenames
   :type suffix: str
   :ivar trigger_when_status_is: List of status values that trigger rendering
   :type trigger_when_status_is: list


   .. py:attribute:: trigger_when_status_is
      :value: None



   .. py:attribute:: path
      :value: None



   .. py:attribute:: counter
      :value: 0



   .. py:attribute:: create_dir_for_path
      :value: True



   .. py:attribute:: executor


   .. py:attribute:: suffix
      :value: ''



   .. py:method:: update()

      Check child status and render if triggered.

      :return: Status of decorated child
      :rtype: :class:`py_trees.common.Status`