robokudo.display

ORIGINAL BY PY_TREES. ADAPTED FOR ROBOKUDO.

Behaviour trees are significantly easier to design, monitor and debug with visualisations. Py Trees does provide minimal assistance to render trees to various simple output formats. Currently this includes dot graphs, strings or stdout.

Functions

generate_pydot_graph(root, visibility_level[, ...])	Generate the pydot graph - this is usually the first step in
stringify_dot_tree(root)	Generate dot tree graphs and return a string representation
render_dot_tree(root[, visibility_level, ...])	Render the dot tree to .dot, .svg, .png. files in the current
write_timing_info_to_csv(filename_wo_extension, ...)

Module Contents

robokudo.display.generate_pydot_graph(root, visibility_level, collapse_decorators=False)

Generate the pydot graph - this is usually the first step in rendering the tree to file. See also render_dot_tree().

Args:

root (Behaviour): the root of a tree, or subtree visibility_level (:class`~py_trees.common.VisibilityLevel`): collapse subtrees at or under this level collapse_decorators (bool): only show the decorator (not the child)

Returns:

pydot.Dot: graph and dict with timing information

robokudo.display.stringify_dot_tree(root)

Generate dot tree graphs and return a string representation of the dot graph.

Args:

root (Behaviour): the root of a tree, or subtree

Returns:

str: dot graph as a string

robokudo.display.render_dot_tree(root, visibility_level=common.VisibilityLevel.DETAIL, collapse_decorators=False, name=None, threadpool_executor: concurrent.futures.ThreadPoolExecutor = None, path_prefix=None)

Render the dot tree to .dot, .svg, .png. files in the current working directory. These will be named with the root behaviour name.

Args:

root (Behaviour): the root of a tree, or subtree visibility_level (:class`~py_trees.common.VisibilityLevel`): collapse subtrees at or under this level collapse_decorators (bool): only show the decorator (not the child) name (str): name to use for the created files (defaults to the root behaviour name) threadpool_executor: You can pass a ThreadPoolExecutor for file writing path_prefix: Pass a string that shall be put before the filename

Example:

Render a simple tree to dot/svg/png file:

root = py_trees.composites.Sequence("Sequence")
for job in ["Action 1", "Action 2", "Action 3"]:
    success_after_two = py_trees.behaviours.Count(name=job,
                                                  fail_until=0,
                                                  running_until=1,
                                                  success_until=10)
    root.add_child(success_after_two)
py_trees.display.render_dot_tree(root)

Tip

A good practice is to provide a command line argument for optional rendering of a program so users can quickly visualise what tree the program will execute.

robokudo.display.write_timing_info_to_csv(filename_wo_extension, timing_info_dict)