robokudo.vis.visualizer_manager
===============================

.. py:module:: robokudo.vis.visualizer_manager

.. autoapi-nested-parse::

   Visualization management for RoboKudo pipelines.

   This module provides a behavior tree node that manages visualization of pipeline data
   using different visualization backends. It coordinates:

   * OpenCV-based visualization
   * Open3D visualization
   * ROS visualization
   * Shared visualization state
   * Pipeline data synchronization

   Dependencies
   -----------
   * py_trees for behavior tree functionality
   * cv2 for OpenCV visualization
   * robokudo.pipeline for pipeline access
   * robokudo.vis.* for visualization backends

   See Also
   --------
   * :mod:`robokudo.vis.visualizer` : Base visualization interface
   * :mod:`robokudo.vis.cv_visualizer` : OpenCV-based visualization
   * :mod:`robokudo.vis.o3d_visualizer` : Open3D-based visualization
   * :mod:`robokudo.vis.ros_visualizer` : ROS-based visualization



Classes
-------

.. autoapisummary::

   robokudo.vis.visualizer_manager.VisualizationManager


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

.. py:class:: VisualizationManager(name)

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


   Behavior tree node for managing pipeline visualizations.

   This class coordinates visualization of pipeline data across multiple
   visualization backends. It handles:

   * Pipeline data buffering and synchronization
   * Visualizer creation and lifecycle management
   * Shared visualization state
   * Visualization timing and performance monitoring

   Parameters
   ----------
   name : str
       Name of the behavior tree node

   Attributes
   ----------
   pipelines : dict
       Mapping of pipeline names to Pipeline objects
   rk_logger : logging.Logger
       Logger instance for this class
   visualizer_types : list
       List of available visualizer classes
   visualizers : dict
       Mapping of pipeline names to lists of active visualizers

   Notes
   -----
   The manager operates in three phases:

   1. Pre-tick: Prepare visualizers for new data
   2. Tick: Update visualizations
   3. Post-tick: Cleanup and synchronization


   .. py:attribute:: pipelines


   .. py:attribute:: rk_logger
      :value: None



   .. py:attribute:: visualizer_types


   .. py:attribute:: visualizers


   .. py:method:: create_visualizers_for_pipeline(pipeline: robokudo.pipeline.Pipeline)

      Create visualizer instances for a pipeline.

      Parameters
      ----------
      pipeline : robokudo.pipeline.Pipeline
          Pipeline to create visualizers for

      Notes
      -----
      Creates one instance of each visualizer type and associates them
      with the pipeline. All visualizers share a common visualization state.

      .. warning::
         Not all visualizers need shared state - TODO: Handle this case



   .. py:method:: visualizer_instances()
      :staticmethod:


      Get all active visualizer instances.

      Returns
      -------
      list
          List of all active Visualizer instances



   .. py:method:: initialise()

      Initialize the behavior tree node.

      This method:

      * Clears existing pipeline references
      * Finds all Pipeline nodes in the behavior tree
      * Stores references to found pipelines

      Notes
      -----
      The VisualizationManager should be placed one level below the top node
      (Parallel) in the behavior tree.



   .. py:method:: update()

      Update visualizations for all pipelines.

      This method:

      1. Copies new data from buffer to visualization map
      2. Creates visualizers for new pipelines
      3. Notifies visualizers of new data
      4. Executes pre-tick, tick, and post-tick phases
      5. Checks for termination signals

      Returns
      -------
      py_trees.common.Status
          FAILURE if any visualizer indicates termination, RUNNING otherwise

      Notes
      -----
      The update cycle ensures synchronized visualization across all backends
      while maintaining separation between data buffers and visualization state.