v1.6.0

demo_3.py

@@ -4,3 +4,5 @@
 if __name__ == '__main__':
     builder = Builder(folders=['logs', 'demos'])
     print(builder.get_relative_filename('demos/demos/demo_1.xml'))
+
+

pybts/__init__.py

@@ -1,16 +1,16 @@
-from . import builder
-from . import utility
-from . import tree
-from . import node
-from . import board
 from .tree import Tree
-from .node import *
+from .nodes import *
 from .composites import *
 from .board import Board
 from .builder import Builder
 from .decorators import *
 from py_trees import logging
 
+from . import utility
+from . import nodes
+from . import composites
+from . import decorators
+
 from importlib.metadata import version
 
 try:

pybts/builder.py

@@ -5,7 +5,7 @@
 from typing import Callable
 import xml.etree.ElementTree as ET
 import copy
-from pybts.node import *
+from pybts.nodes import *
 from pybts.composites import *
 from pybts.decorators import *
 import uuid
@@ -73,12 +73,13 @@ def find_filepath(self, filepath: str):
 
     def read_text_from_file(self, filepath: str) -> str:
         # 从folder中找文件
+        init_filepath = filepath
         filepath = self.find_filepath(filepath=filepath)
         if filepath != '' and os.path.exists(filepath) and os.path.isfile(filepath):
             with open(filepath, 'r', encoding='utf-8') as file:
                 return file.read()
 
-        raise Exception(f'Cannot find file: {filepath}')
+        raise Exception(f'Cannot find file: {init_filepath}')
 
     def build_from_file(self, filepath: str, attrs: dict = None):
         """
@@ -161,15 +162,20 @@ def register_default(self):
                 Template,
                 PreCondition,
                 PostCondition,
-                Print
+                Switcher,
+                ReactiveSwitcher,
         )
 
         self.register_node(
                 Failure,
                 Success,
                 Running,
                 IsChanged,
-                IsMatchRule
+                IsMatchRule,
+                IsEqual,
+                Print,
+                RandomIntValue,
+                RandomFloatValue
         )
 
         self.register_node(
@@ -185,6 +191,7 @@ def register_default(self):
                 SuccessIsRunning,
                 Timeout,
                 Throttle,
+                IsStatusChanged
         )
 
         # 且或非

pybts/composites/__init__.py

@@ -5,7 +5,7 @@
 from .condition_branch import ConditionBranch
 from .template import Template
 from .ppa import PreCondition, PostCondition
-
+from .switcher import Switcher, ReactiveSwitcher
 # TODO: RUNNING节点的打断操作应该怎么在行为树上体现出来
 # 通过ReactiveSelector/ReactiveSequence来起到打断后续节点的效果
 # ReactiveSequence: 前面的节点条件如果满足，则会一直

pybts/composites/composite.py

@@ -1,5 +1,5 @@
 import py_trees
-from pybts.node import Node
+from pybts.nodes import Node
 from abc import ABC
 import typing
 from py_trees.common import Status
@@ -258,3 +258,20 @@ def SEQ_SEL_tick(
 
         self.status = new_status
         yield self
+
+    def switch_tick(self, index: int, tick_again_status: list[Status]) -> typing.Iterator[py_trees.behaviour.Behaviour]:
+        if self.status in tick_again_status:
+            # 重新执行上次执行的子节点
+            assert self.current_child is not None
+        else:
+            self.current_child = self.children[index]  # 执行对应的index
+
+        yield from self.current_child.tick()
+        for child in self.children:
+            if child != self.current_child:
+                # 清除子节点的状态（停止正在执行的子节点）
+                child.stop(Status.INVALID)
+
+        self.status = self.current_child.status
+        yield self
+

pybts/composites/parallel.py

@@ -1,14 +1,7 @@
 from pybts.composites.composite import Composite
-from pybts.composites.sequence import Sequence
-from pybts.composites.selector import Selector
 import py_trees
-from pybts.node import Node
-from abc import ABC
 import typing
 from py_trees.common import Status
-from py_trees import behaviour
-import itertools
-import uuid
 
 
 class Parallel(Composite):
@@ -77,6 +70,7 @@ def to_data(self):
             'success_threshold': self.success_threshold
         }
 
+
 # class ReactiveParallel(Parallel):
 #     """
 #     反应式并行节点

pybts/composites/ppa.py

@@ -2,7 +2,7 @@
 import typing
 from py_trees.common import Status
 from pybts.composites.parallel import Parallel
-from pybts.node import Condition
+from pybts.nodes import Condition
 
 
 class PreCondition(Parallel, Condition):

pybts/composites/sequence.py

@@ -1,10 +1,6 @@
-import py_trees
-from pybts.node import Node
-from abc import ABC
 import typing
 from py_trees.common import Status
 from py_trees import behaviour
-import itertools
 from pybts.composites.composite import Composite
 
 

pybts/composites/switcher.py

@@ -0,0 +1,53 @@
+import py_trees
+import typing
+
+from py_trees.behaviour import Behaviour
+from py_trees.common import Status
+from py_trees import behaviour
+from pybts.composites.composite import Composite
+import random
+
+
+class Switcher(Composite):
+    """
+    选择其中一个子节点执行
+    - 当前执行节点返回 RUNNING，下次执行还是从这个节点开始
+    返回当前执行节点的状态
+
+    index:
+    - 具体的数字
+    - jinja2模版: 从context中获取
+    - random: 随机数
+    """
+
+    def __init__(self, index: typing.Union[int, str] = 'random', **kwargs):
+        super().__init__(**kwargs)
+        self.index = index
+        self.curr_index = None
+
+    def reset(self):
+        super().reset()
+        self.curr_index = None
+
+    def to_data(self):
+        return {
+            **super().to_data(),
+            'curr_index': self.curr_index
+        }
+
+    def tick(self) -> typing.Iterator[Behaviour]:
+        if self.index == 'random':
+            self.curr_index = random.randint(0, len(self.children) - 1)
+        else:
+            self.curr_index = self.converter.int(self.index)
+        return self.switch_tick(index=self.curr_index, tick_again_status=[Status.RUNNING])
+
+
+class ReactiveSwitcher(Switcher):
+    """
+    相应式选择其中一个子节点执行，每次都会重新选择index
+    返回当前执行节点的状态
+    """
+
+    def tick(self) -> typing.Iterator[Behaviour]:
+        return self.switch_tick(index=self.converter.int(self.index), tick_again_status=[])

pybts/converter.py

@@ -1,6 +1,15 @@
 import typing
 import jinja2
 import json
+from py_trees.common import Status
+from typing import Union
+
+_STATUS_MAP = {
+    'SUCCESS': Status.SUCCESS,
+    'FAILURE': Status.FAILURE,
+    'RUNNING': Status.RUNNING,
+    'INVALID': Status.INVALID
+}
 
 
 class Converter:
@@ -60,6 +69,25 @@ def eval(self, value: str, context: dict = None):
                 ctx[key] = ctx[key]()
         return eval(value, ctx)
 
+    @classmethod
+    def status(cls, value: Union[str, Status]) -> Status:
+        if isinstance(value, Status):
+            return value
+        value = value.upper()
+        if value not in _STATUS_MAP:
+            raise Exception(f'{value} is not a valid status')
+        return _STATUS_MAP[value]
+
+    @classmethod
+    def status_list(cls, value: Union[str, Status, list[Status]]) -> list[Status]:
+        if isinstance(value, Status):
+            return [value]
+        elif isinstance(value, list):
+            return [cls.status(value=item) for item in value]
+        elif isinstance(value, str):
+            value_list = value.split(',')
+            return [cls.status(value=item) for item in value_list if item != '']
+
     def render(self, value: str, context: dict = None) -> str:
         ctx = { }
         # if self.node.attrs is not None:

pybts/decorators/nodes.py

@@ -1,6 +1,8 @@
 from __future__ import annotations
 import py_trees
-from pybts.node import Node
+
+import pybts
+from pybts.nodes import Node
 from abc import ABC
 from py_trees.common import Status
 import typing
@@ -585,3 +587,64 @@ def tick(self):
         else:
             yield from Node.tick(self)
 
+
+class IsStatusChanged(Decorator):
+    """
+    子节点的状态变化后才会认为是成功
+
+    如果指定了from_status和to_status，则只有子节点的状态由from_status转变到to_status，才会认为是触发了状态变化
+    from_status和to_status均可以由多个状态组成，用逗号分隔
+
+    immediate: 一开始是否会触发一次IsChanged
+    """
+
+    def __init__(self, from_status: str | Status = '', to_status: str | Status = '', immediate: bool | str = False,
+                 **kwargs):
+        super().__init__(**kwargs)
+
+        self.from_status: list[Status] = self.converter.status_list(from_status)
+        self.to_status: list[Status] = self.converter.status_list(to_status)
+        self.immediate: bool = immediate
+        self.last_status = None
+        self.changed_count = 0
+
+    def setup(self, **kwargs: typing.Any) -> None:
+        super().setup(**kwargs)
+        self.immediate = self.converter.bool(self.immediate)
+
+    def reset(self):
+        super().reset()
+        self.last_status = None
+        self.changed_count = 0
+
+    def to_data(self):
+        return {
+            **super().to_data(),
+            'from_status'  : self.from_status,
+            'to_status'    : self.to_status,
+            'immediate'    : self.immediate,
+            'changed_count': self.changed_count
+        }
+
+    def check_is_changed(self):
+        if len(self.from_status) > 0 and self.last_status not in self.from_status:
+            return False
+
+        if len(self.to_status) > 0 and self.decorated.status not in self.to_status:
+            return False
+
+        if self.last_status != self.decorated.status:
+            return True
+        else:
+            return False
+
+    def update(self) -> Status:
+        self.logger.debug("%s.update() %s -> %s" % (self.__class__.__name__, self.last_status, self.decorated.status))
+        if not self.immediate and self.last_status is None:
+            self.last_status = self.decorated.status
+        is_changed = self.check_is_changed()
+        self.last_status = self.decorated.status
+        if is_changed:
+            return Status.SUCCESS
+        else:
+            return Status.FAILURE