robokudo.tree_components.render_dot

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

RenderTreeToDot	Behavior that renders tree to DOT format when ticked.
RenderTreeToDotDecorator	Decorator that renders tree when child returns specific status.

Functions

create_dir_if_not_exists(→ None)	Create directory if it doesn't exist.
render_now(→ None)	Generate behavior tree snapshot and save to disk.

Module Contents

robokudo.tree_components.render_dot.create_dir_if_not_exists(path: str) → None

Create directory if it doesn’t exist.

Parameters:

path – Directory path to create

robokudo.tree_components.render_dot.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

Parameters:

behaviour – Behavior node requesting the render

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

Bases: 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.

path: typing_extensions.Optional[str] = None

Output directory path

counter: int = 0

Number of renders performed

create_dir_for_path: bool = True

Whether to create output directory

executor: concurrent.futures.ThreadPoolExecutor

Thread pool for rendering

suffix: str = ''

Suffix to append to output filenames

update() → py_trees.common.Status

Render tree on each tick.

Returns:

Always returns SUCCESS

class robokudo.tree_components.render_dot.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_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.

trigger_when_status_is: typing_extensions.List[py_trees.common.Status] = None

List of status values that trigger rendering

path: str = None

Output directory path

counter: int = 0

Number of renders performed

create_dir_for_path: bool = True

Whether to create output directory

executor: concurrent.futures.ThreadPoolExecutor

Thread pool for rendering

suffix: str = ''

Suffix to append to output filenames

update() → py_trees.common.Status

Check child status and render if triggered.

Returns:

Status of decorated child