Merge branch 'main' of github.com:HPCL-EI/RoboWaiter

robowaiter/behavior_tree/ptml/ptmlCompiler.py

@@ -33,6 +33,7 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
         )
 
     # noting fault, go next
+    ptml_path = format_trans_to_bracket(ptml_path)
     input_stream = FileStream(ptml_path, encoding="utf-8")
 
     lexer = Lexer(input_stream)
@@ -50,3 +51,55 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
     walker.walk(ptml, tree)
 
     return ptml.bt_root
+
+
+def format_trans_to_bracket(file_path: str) -> str:
+    """_summary_
+
+    Args:
+        file_path (str): _description_
+
+    Raises:
+        FileNotFoundError: _description_
+
+    Returns:
+        str: the path tp temp file with '{}' form.
+    """
+    import autopep8
+
+    if not os.path.exists(file_path):
+        raise FileNotFoundError("Given a fault ptml path: {}".format(file_path))
+    
+    def counter_(input:str) -> int:
+        length = 0
+        for i in range(len(input)):
+            if input[i] == ' ':
+                length += 1
+            else:
+                if length % 4 != 0:
+                    raise TabError('Tab length in ptml file should be 4.')
+                return length
+
+    with open(file_path, 'r') as file:
+        ptml_new = ''
+        ptml_tab = file.readlines()
+
+        level = 0
+        for i in ptml_tab:
+            new_level = counter_(i) // 4
+            if new_level == level:
+                ptml_new += i
+            elif new_level > level:
+                ptml_new += '{\n' + i
+            elif new_level < level:
+                ptml_new += '\n}' + i
+            level = new_level
+        ptml_new += '}'
+
+    import re
+    new_path = re.sub('/[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml',file_path)
+    with open(new_path, 'w+') as file:
+        file.write(ptml_new)
+    return new_path
+
+# format_trans_to_bracket('/home/wu/RoboWaiter/robowaiter/behavior_tree/ptml/test/tab_test.ptml')

robowaiter/behavior_tree/ptml/test/bracket_ptml.ptml

@@ -0,0 +1,9 @@
+selector
+{
+    sequence
+{
+        cond Chatting()
+        act DealChat()
+
+}    act At(Coffee,Table)
+}

robowaiter/behavior_tree/ptml/test/ptml_test.py

@@ -1,8 +1,8 @@
 import os
 import py_trees as ptree
 
-from robowaiter.scene.scene import Scene
+# from robowaiter.scene.scene import Scene
-from robowaiter.behavior_tree.ptml.ptmlCompiler import load
+# from robowaiter.behavior_tree.ptml.ptmlCompiler import load
 
 import os
 from robowaiter import Robot, task_map
@@ -13,7 +13,7 @@ if __name__ == '__main__':
 
     # create robot
     project_path = "../../../"
-    ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/Test.ptml')
+    ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/tab_test.ptml')
     behavior_lib_path = os.path.join(project_path, 'behavior_lib')
 
     robot = Robot(ptml_path, behavior_lib_path)

robowaiter/behavior_tree/ptml/test/tab_test.ptml

@@ -0,0 +1,5 @@
+selector
+    sequence
+        cond Chatting()
+        act DealChat()
+    act At(Coffee,Table)