更改ptml中的包导入方式，使得包内包外都可以调用；Scene类添加load_BT方法

.gitignore

@@ -150,7 +150,7 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 .idea/
-test.py
+/test.py
 
 # antlr tempory files
 .antlr/

ptml/ptmlCompiler.py

@@ -1,8 +1,16 @@
 import os
 from antlr4 import *
-from ptmlTranslator import ptmlTranslator
+
-from ptmlParser import ptmlParser as Parser
+if "." in __name__:
-from ptmlLexer import ptmlLexer as Lexer
+    from .ptmlTranslator import ptmlTranslator
+    from .ptmlParser import ptmlParser as Parser
+    from .ptmlLexer import ptmlLexer as Lexer
+
+else:
+    from ptmlTranslator import ptmlTranslator
+    from ptmlParser import ptmlParser as Parser
+    from ptmlLexer import ptmlLexer as Lexer
+
 
 def load(ptml_path: str, behaviour_lib_path: str):
     """_summary_
@@ -17,24 +25,22 @@ def load(ptml_path: str, behaviour_lib_path: str):
     """
     # error handle
     if not os.path.exists(ptml_path):
-        raise FileNotFoundError(
+        raise FileNotFoundError("Given a fault ptml path: {}".format(ptml_path))
-            'Given a fault ptml path: {}'.format(ptml_path)
-        )
     if not os.path.exists(behaviour_lib_path):
         raise FileNotFoundError(
-            'Given a fault behaviour library path: {}'.format(behaviour_lib_path)
+            "Given a fault behaviour library path: {}".format(behaviour_lib_path)
         )
-    
+
     # noting fault, go next
-    input_stream = FileStream(ptml_path, encoding='utf-8')
+    input_stream = FileStream(ptml_path, encoding="utf-8")
 
     lexer = Lexer(input_stream)
     stream = CommonTokenStream(lexer)
     parser = Parser(stream)
     tree = parser.root()
-    
+
     walker = ParseTreeWalker()
-    ptml = ptmlTranslator() # listener mode
+    ptml = ptmlTranslator()  # listener mode
     walker.walk(ptml, tree)
 
-    return ptml.bt_root
+    return ptml.bt_root

ptml/ptmlTranslator.py

@@ -2,10 +2,16 @@ import shortuuid
 import py_trees as ptree
 
 from antlr4 import *
-from ptmlListener import ptmlListener
-from ptmlParser import ptmlParser
 
-short_uuid = lambda : shortuuid.ShortUUID().random(length=8)
+if "." in __name__:
+    from .ptmlListener import ptmlListener
+    from .ptmlParser import ptmlParser
+else:
+    from ptmlListener import ptmlListener
+    from ptmlParser import ptmlParser
+
+short_uuid = lambda: shortuuid.ShortUUID().random(length=8)
+
 
 class ptmlTranslator(ptmlListener):
     """Translate the ptml language to BT.
@@ -13,117 +19,113 @@ class ptmlTranslator(ptmlListener):
     Args:
         ptmlListener (_type_): _description_
     """
-    
+
     def __init__(self) -> None:
         super().__init__()
         self.bt_root = None
-        self.stack = []        
+        self.stack = []
-        
+
     # Enter a parse tree produced by ptmlParser#root.
-    def enterRoot(self, ctx:ptmlParser.RootContext):
+    def enterRoot(self, ctx: ptmlParser.RootContext):
         pass
 
     # Exit a parse tree produced by ptmlParser#root.
-    def exitRoot(self, ctx:ptmlParser.RootContext):
+    def exitRoot(self, ctx: ptmlParser.RootContext):
         pass
-        
+
-        
     # Enter a parse tree produced by ptmlParser#tree.
-    def enterTree(self, ctx:ptmlParser.TreeContext):
+    def enterTree(self, ctx: ptmlParser.TreeContext):
         type = str(ctx.internal_node().children[0])
 
         match type:
-            case 'sequence':
+            case "sequence":
-                tag = 'sequence_' + short_uuid()
+                tag = "sequence_" + short_uuid()
                 node = ptree.composites.Sequence(name=tag, memory=False)
-            case 'selector':
+            case "selector":
-                tag = 'selector_' + short_uuid()
+                tag = "selector_" + short_uuid()
                 node = ptree.composites.Selector(name=tag, memory=False)
-            case 'parallel':
+            case "parallel":
-                tag = 'parallel_' + short_uuid()
+                tag = "parallel_" + short_uuid()
                 # threshold = int(ctx.children[1])
                 # default policy, success on all
                 node = ptree.composites.Parallel(
-                    name=tag, 
+                    name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll
-                    policy=ptree.common.ParallelPolicy.SuccessOnAll
                 )
             case _:
-                raise TypeError(
+                raise TypeError("Unknown Composite Type: {}".format(type))
-                    'Unknown Composite Type: {}'.format(type)
+
-                )
-            
         self.stack.append(node)
 
     # Exit a parse tree produced by ptmlParser#tree.
-    def exitTree(self, ctx:ptmlParser.TreeContext):
+    def exitTree(self, ctx: ptmlParser.TreeContext):
         if len(self.stack) >= 2:
             child = self.stack.pop()
             self.stack[-1].add_child(child)
         else:
             self.bt_root = self.stack[0]
 
-
     # Enter a parse tree produced by ptmlParser#internal_node.
-    def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
+    def enterInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
-        pass                    
-
-    # Exit a parse tree produced by ptmlParser#internal_node.
-    def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
         pass
 
+    # Exit a parse tree produced by ptmlParser#internal_node.
+    def exitInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
+        pass
 
     # Enter a parse tree produced by ptmlParser#action_sign.
-    def enterAction_sign(self, ctx:ptmlParser.Action_signContext):
+    def enterAction_sign(self, ctx: ptmlParser.Action_signContext):
         # cond / task
         node_type = str(ctx.children[0])
         name = str(ctx.Names())
-        
+
         # if have params
         args = []
         if len(ctx.children) > 4:
             params = ctx.action_parm()
-            
+
             for i in params.children:
                 if isinstance(i, ptmlParser.BooleanContext):
                     args.append(str(i.children[0]))
                 else:
                     args.append(str(i))
 
-        args = ''.join(args)
+        args = "".join(args)
-        
+
         # dynamic import
-        behaviour_lib_config = './behaviour_lib'
+        if "." in __name__:  # in package
+            behaviour_lib_config = "ptml/behaviour_lib"
+        else:
+            behaviour_lib_config = "./behaviour_lib"
+
         import sys
+
         sys.path.append(behaviour_lib_config)
-        exec('from {} import {}'.format(name, name))
+        exec("from {} import {}".format(name, name))
-        # 
+        #
-        tag = 'cond_' + short_uuid() if node_type == 'cond' else 'task_' + short_uuid()
+        tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
         node = None
-        node = eval('{}(\'{}\', {})'.format(name, tag, args))
+        node = eval("{}('{}', {})".format(name, tag, args))
 
         # connect
         self.stack[-1].add_child(node)
         # print(self.stack)
 
     # Exit a parse tree produced by ptmlParser#action_sign.
-    def exitAction_sign(self, ctx:ptmlParser.Action_signContext):
+    def exitAction_sign(self, ctx: ptmlParser.Action_signContext):
         pass
 
-
     # Enter a parse tree produced by ptmlParser#action_parm.
-    def enterAction_parm(self, ctx:ptmlParser.Action_parmContext):
+    def enterAction_parm(self, ctx: ptmlParser.Action_parmContext):
         pass
 
     # Exit a parse tree produced by ptmlParser#action_parm.
-    def exitAction_parm(self, ctx:ptmlParser.Action_parmContext):
+    def exitAction_parm(self, ctx: ptmlParser.Action_parmContext):
         pass
 
-
     # Enter a parse tree produced by ptmlParser#boolean.
-    def enterBoolean(self, ctx:ptmlParser.BooleanContext):
+    def enterBoolean(self, ctx: ptmlParser.BooleanContext):
         pass
 
     # Exit a parse tree produced by ptmlParser#boolean.
-    def exitBoolean(self, ctx:ptmlParser.BooleanContext):
+    def exitBoolean(self, ctx: ptmlParser.BooleanContext):
         pass
-    

ptml/ptml_test.py

@@ -6,7 +6,7 @@ from ptmlCompiler import load
 
 if __name__ == '__main__':
 
-    project_path = "/home/wu/RoboWaiter/ptml"
+    project_path = "."
     
     ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
     behavior_lib_path = os.path.join(project_path, 'behaviour_lib')

scene_utils/control.py

@@ -6,6 +6,8 @@ import numpy as np
 from proto import GrabSim_pb2
 from proto import GrabSim_pb2_grpc
 
+from ptml import ptmlCompiler
+
 channel = grpc.insecure_channel(
     "localhost:30001",
     options=[
@@ -55,6 +57,7 @@ class Scene:
 
     def __init__(self, sceneID):
         self.sceneID = sceneID
+        self.BT = None
         self.reset()
 
     @property
@@ -216,3 +219,6 @@ class Scene:
 
     def animation_reset(self):
         stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
+
+    def load_BT(self, ptml_path):
+        self.BT = ptmlCompiler.load(ptml_path, "ptml/behaviour_lib")