Merge pull request #16 from brown-ccv/integrate-action-library

initial action_library integration

src/social_norms_trees/behavior_library.py

@@ -0,0 +1,12 @@
+class BehaviorLibrary:
+    def __init__(self, behaviors):
+        self.behaviors = behaviors
+
+    def get_behavior_by_nickname(self, nickname):
+        return self.behaviors.get(nickname)
+
+    def get_behavior_by_id(self, id_):
+        for behavior in self.behaviors.values():
+            if behavior.id == id_:
+                return behavior
+        return None

src/social_norms_trees/custom_node_library.py

@@ -0,0 +1,15 @@
+import py_trees
+
+class CustomBehavior(py_trees.behaviours.Dummy):
+    def __init__(self, name, id_, nickname):
+        super().__init__(name)
+        self.id_ = id_
+        self.nickname = nickname
+
+
+
+    # id of the behavior within the behavior library (persists)
+    # but also the unique id for the behavior within the tree (in case there are multiple instances of
+    # the behavior in one tree)
+
+

src/social_norms_trees/mutate_tree.py

@@ -8,6 +8,10 @@
 import click
 import py_trees
 
+from datetime import datetime
+
+from social_norms_trees.custom_node_library import CustomBehavior
+
 
 T = TypeVar("T", bound=py_trees.behaviour.Behaviour)
 
@@ -337,19 +341,32 @@ def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) ->
         warnings.warn(
             f"{node}'s parent is None, so we can't remove it. You can't remove the root node."
         )
-        return tree
+        action_log = {}
+        return tree,
     elif isinstance(parent_node, py_trees.composites.Composite):
         parent_node.remove_child(node)
+        action_log = {
+            "type": "remove_node",
+            "nodes": [
+                {
+                    "id_": node.id_,
+                    "nickname": node.nickname
+                },
+            ],
+            "timestamp": datetime.now().isoformat(), 
+         }
     else:
         raise NotImplementedError()
-    return tree
+
+    return tree, action_log
 
 
 def move_node(
     tree: T,
     node: Optional[py_trees.behaviour.Behaviour] = None,
     new_parent: Optional[py_trees.behaviour.Behaviour] = None,
     index: int = None,
+    internal_call: bool = False,
 ) -> T:
     """Exchange two behaviours in the tree
 
@@ -370,9 +387,24 @@ def move_node(
     assert isinstance(new_parent, py_trees.composites.Composite)
     assert isinstance(node.parent, py_trees.composites.Composite)
 
+    # old_parent = node.parent.name
     node.parent.remove_child(node)
     new_parent.insert_child(node, index)
 
+
+    if not internal_call:
+        action_log = {
+            "type": "move_node",
+            "nodes": [
+                {
+                    "id": node.id_,
+                    "nickname": node.nickname,
+                },
+            ],
+            "timestamp": datetime.now().isoformat(), 
+        }
+        return tree, action_log
+
     return tree
 
 
@@ -435,7 +467,99 @@ def exchange_nodes(
     node0_parent, node0_index = node0.parent, node0.parent.children.index(node0)
     node1_parent, node1_index = node1.parent, node1.parent.children.index(node1)
 
-    tree = move_node(tree, node0, node1_parent, node1_index)
-    tree = move_node(tree, node1, node0_parent, node0_index)
+    tree = move_node(tree, node0, node1_parent, node1_index, True)
+    tree = move_node(tree, node1, node0_parent, node0_index, True)
+
+    nodes = []
+    if node0.__class__.__name__ != "CustomBehavior":
+        nodes.append(
+            {
+                "nickname": node0.name,
+            }
+        )
+    else:
+        nodes.append(
+            {
+                "id": node0.id_,
+                "nickname": node0.nickname
+            }
+        )
+
+    if node1.__class__.__name__ != "CustomBehavior":
+        nodes.append(
+            {
+                "nickname": node1.name,
+            }
+        )
+    else:
+        nodes.append(
+            {
+                "id": node1.id_,
+                "nickname": node1.nickname
+            }
+        )
+
+    action_log = {
+        "type": "exchange_nodes",
+        "nodes": nodes,
+        "timestamp": datetime.now().isoformat(), 
+    }
+    return tree, action_log
+
+
+def prompt_select_node(behavior_library, text):
+
+    for idx, tree_name in enumerate(behavior_library.behaviors.keys(), 1):
+        print(f"{idx}. {tree_name}")    
+
+
+    node_index = click.prompt(
+        text=text,
+        type=int,
+    )
+
+    node_key = list(behavior_library.behaviors.keys())[node_index-1]
+
+    return behavior_library.behaviors[node_key]
+
+
+def add_node(
+    tree: T,
+    behavior_library: object,
+) -> T:
+    """Exchange two behaviours in the tree
+
+    Examples:
+        >>> tree = py_trees.composites.Sequence("", False, children=[])
+
+    """
+
+
+    behavior = prompt_select_node(behavior_library, f"Which behavior do you want to add?")
+
+    new_node = CustomBehavior(
+                    name=behavior['nickname'],
+                    id_=behavior['id'],
+                    nickname=behavior['nickname']
+                )
+
+    new_parent = prompt_identify_parent_node(
+        tree, f"What should its parent be?", display_nodes=True
+    )
+
+    index = prompt_identify_child_index(new_parent)
+
+    assert isinstance(new_parent, py_trees.composites.Composite)
 
-    return tree
+    new_parent.insert_child(new_node, index)
+
+    action_log = {
+        "type": "add_node",
+        "node": {
+                "id": new_node.id_,
+                "nickname": new_node.nickname
+            },
+        "timestamp": datetime.now().isoformat(), 
+    }
+
+    return tree, action_log

src/social_norms_trees/resources.json

@@ -0,0 +1,104 @@
+{
+    "behavior_tree": {
+        "name": "Sequence A",
+        "type": "Sequence",
+        "children": [
+            {
+                "name": "Behavior A",
+                "type": "Behavior",
+                "children": []
+            },
+            {
+                "name": "Behavior B",
+                "type": "Behavior",
+                "children": []
+            },
+            {
+                "name": "Sequence B",
+                "type": "Sequence",
+                "children": [
+                    {
+                        "name": "Behavior C",
+                        "type": "Behavior",
+                        "children": []
+                    },
+                    {
+                        "name": "Behavior D",
+                        "type": "Behavior",
+                        "children": []
+                    }
+                ]
+            },
+            {
+                "name": "Sequence C",
+                "type": "Sequence",
+                "children": [
+                    {
+                        "name": "Behavior E",
+                        "type": "Behavior",
+                        "children": []
+                    },
+                    {
+                        "name": "Behavior F",
+                        "type": "Behavior",
+                        "children": []
+                    },
+                    {
+                        "name": "Behavior G",
+                        "type": "Behavior",
+                        "children": []
+                    },
+                    {
+                        "name": "Behavior H",
+                        "type": "Behavior",
+                        "children": []
+                    }
+                ]
+            }
+        ]
+    },
+    "behavior_library": 
+        {
+            "Behavior A": {
+            "id": "001",
+            "nickname": "Behavior A",
+            "type": "Dummy"
+        },
+        "Behavior B": {
+            "id": "002",
+            "nickname": "Behavior B",
+            "type": "Dummy"
+        },
+        "Behavior C": {
+            "id": "003",
+            "nickname": "Behavior C",
+            "type": "Dummy"
+        },
+        "Behavior D": {
+            "id": "004",
+            "nickname": "Behavior D",
+            "type": "Dummy"
+        },
+        "Behavior E": {
+            "id": "005",
+            "nickname": "Behavior E",
+            "type": "Dummy"
+        },
+        "Behavior F": {
+            "id": "006",
+            "nickname": "Behavior F",
+            "type": "Dummy"
+        },
+        "Behavior G": {
+            "id": "007",
+            "nickname": "Behavior G",
+            "type": "Dummy"
+        },
+        "Behavior H": {
+            "id": "008",
+            "nickname": "Behavior H",
+            "type": "Dummy"
+        }
+
+    }
+}

src/social_norms_trees/serialize_tree.py

@@ -1,4 +1,5 @@
 import py_trees
+from social_norms_trees.custom_node_library import CustomBehavior
 
 
 def serialize_tree(tree):
@@ -12,20 +13,22 @@ def serialize_node(node):
 
     return serialize_node(tree)
 
-def deserialize_tree(tree):
+def deserialize_tree(tree, behavior_library):
     def deserialize_node(node):
         node_type = node['type']
         children = [deserialize_node(child) for child in node['children']]
 
         if node_type == 'Sequence':
             return py_trees.composites.Sequence(node['name'], False, children=children)
-        elif node_type == 'Dummy':
-            return py_trees.behaviours.Dummy(node['name'])
-        elif node_type == 'Success':
-            return py_trees.behaviours.Success(node['name'])
-        elif node_type == 'Failure':
-            return py_trees.behaviours.Failure(node['name'])
-        elif node_type == 'Running':
-            return py_trees.behaviours.Running(node['name'])
-
+        elif node_type == 'Behavior':
+            behavior = behavior_library.get_behavior_by_nickname(node['name'])
+            if behavior:
+                return CustomBehavior(
+                    name=behavior['nickname'],
+                    id_=behavior['id'],
+                    nickname=behavior['nickname']
+                )
+            else:
+                raise ValueError(f"Behavior {node['name']} not found in behavior library")
+
     return deserialize_node(tree)