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.render_now


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

.. py:function:: render_now(behaviour: typing_extensions.Union[RenderTreeToDot, RenderTreeToDotDecorator]) -> None

   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


.. py:class:: RenderTreeToDot(path: typing_extensions.Optional[str] = None, suffix: str = '')

   Bases: :py:obj:`py_trees.behaviour.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.


   .. py:attribute:: path
      :type:  typing_extensions.Optional[str]
      :value: None


      Output directory path



   .. py:attribute:: counter
      :type:  int
      :value: 0


      Number of renders performed



   .. py:attribute:: create_dir_for_path
      :type:  bool
      :value: True


      Whether to create output directory



   .. py:attribute:: executor
      :type:  concurrent.futures.ThreadPoolExecutor

      Thread pool for rendering



   .. py:attribute:: suffix
      :type:  str
      :value: ''


      Suffix to append to output filenames



   .. py:method:: update() -> py_trees.common.Status

      Render tree on each tick.

      :return: Always returns SUCCESS



.. py:class:: RenderTreeToDotDecorator(child: typing_extensions.Optional[py_trees.behaviour.Behaviour] = None, path: typing_extensions.Optional[str] = None, suffix: str = '', trigger_when_status_is: typing_extensions.Optional[typing_extensions.List[py_trees.common.Status]] = 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.


   .. py:attribute:: trigger_when_status_is
      :type:  typing_extensions.List[py_trees.common.Status]
      :value: None


      List of status values that trigger rendering



   .. py:attribute:: path
      :type:  str
      :value: None


      Output directory path



   .. py:attribute:: counter
      :type:  int
      :value: 0


      Number of renders performed



   .. py:attribute:: create_dir_for_path
      :type:  bool
      :value: True


      Whether to create output directory



   .. py:attribute:: executor
      :type:  concurrent.futures.ThreadPoolExecutor

      Thread pool for rendering



   .. py:attribute:: suffix
      :type:  str
      :value: ''


      Suffix to append to output filenames



   .. py:method:: update() -> py_trees.common.Status

      Check child status and render if triggered.

      :return: Status of decorated child