52 lines
1.6 KiB
Python
52 lines
1.6 KiB
Python
import py_trees as ptree
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from robowaiter.behavior_tree.ptml import ptmlCompiler
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def load_bt_from_ptml(scene, ptml_path, behavior_lib_path):
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ptml_bt = ptmlCompiler.load(scene, ptml_path, behavior_lib_path)
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bt = ptree.trees.BehaviourTree(ptml_bt)
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with open(ptml_path, 'r') as f:
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ptml = f.read()
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print(f'BT loaded:')
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print_tree_from_root(bt.root)
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# print(ptree.display.unicode_tree(root=bt.root, show_status=True))
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return bt
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def print_tree_from_root(node, indent=0):
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"""
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Recursively prints the tree, each child with increased indentation.
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:param node: The current tree node to print.
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:param indent: The number of '\t' to prefix the line with.
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"""
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# 打印当前节点，增加缩进来表示层级
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print(f"{' ' * indent}{node.print_name}")
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# 如果该节点有子节点，递归打印子节点
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if hasattr(node, "children"):
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for child in node.children:
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print_tree_from_root(child, indent + 1)
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def find_node_by_name(tree, name):
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"""
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Find a node in the behavior tree with the specified name.
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:param tree: The root of the behavior tree or subtree.
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:param name: The name of the node to find.
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:return: Node with the specified name, or None if not found.
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"""
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if tree.name == name:
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return tree
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elif hasattr(tree, "children"): # Check if the tree has children
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for child in tree.children:
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result = find_node_by_name(child, name)
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if result is not None:
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return result
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return None
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# class BehaviorTree(ptree):
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# def __init__(self):
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# super().__init__() |