intrinsic.solutions.behavior_tree.Data

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BT node of type Data for behavior_tree_pb2.DataNode.

Inherits From: Node

intrinsic.solutions.behavior_tree.Data(
*,
blackboard_key: str = '',
operation: 'Data.OperationType' = intrinsic.solutions.behavior_tree.Data.OperationType.CREATE_OR_UPDATE,
cel_expression: Optional[str] = None,
world_query: Optional[intrinsic.solutions.behavior_tree.WorldQuery] = None,
proto: Optional[protobuf_message.Message] = None,
protos: Optional[List[protobuf_message.Message]] = None,
name: Optional[str] = None
)

A data node can be used to create, update, or remove data from the blackboard. Information stored there can be created by a CEL expression, a specific proto or a list of protos, or from a world query.

Attributes
blackboard_key	blackboard key the node operates on
cel_expression	CEL expression for create or update operation
world_query	World query for create or update operation
input_proto	Proto for create or update operation
input_protos	Protos for create or update operation
operation	describing the operation the data node will perform
proto	The proto representation of the node.
node_type	A string label of the node type.
result	blackboard value to pass on the modified blackboard key.
breakpoint
decorators
execution_mode
name
node_id

Child Classes

class OperationType

Methods

create_from_proto

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@classmethodcreate_from_proto(
proto_object: behavior_tree_pb2.BehaviorTree.Node
) -> 'Node'

Instantiates a Node instance from a proto.

disable_execution

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disable_execution(
result_state: Optional[intrinsic.solutions.behavior_tree.DisabledResultState] = None
) -> 'Node'

Disables a node, so that it is not executed and appears to be skipped.

Args
result_state	Optionally force the result of the execution to this state. If not set, the resulting state is automatically determined, so that the node is skipped.

Returns
Builder pattern, returns self.

dot_graph

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dot_graph(
node_id_suffix: str = ''
) -> Tuple[graphviz.Digraph, str]

Converts this node suitable for inclusion in a dot graph.

Args
node_id_suffix	A little string of form _1_2, which is just a suffix to make a unique node name in the graph. If the node names clash within the graph, they are merged into one, and we do not want to merge unrelated nodes.

Returns
Dot graph representation for this node.

enable_execution

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enable_execution() -> 'Node'

Enables a node, so that it will be executed.

Returns
Builder pattern, returns self.

generate_and_set_unique_id

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generate_and_set_unique_id() -> int

Generates a new random id and sets it for this node.

set_blackboard_key

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set_blackboard_key(
blackboard_key: str
) -> 'Data'

Sets the blackboard key for this operation.

Args
blackboard_key	blackboard key by which the value can be accessed in other nodes.

Returns
self (for builder pattern)

set_breakpoint

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set_breakpoint(
breakpoint_type: Optional['BreakpointType']
) -> 'Node'

Sets the breakpoint type on the decorator.

Args
breakpoint_type	desired breakpoint type, None to remove type.

Returns
Builder pattern, returns self.

set_cel_expression

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set_cel_expression(
cel_expression: str
) -> 'Data'

Sets the CEL expression to create or update a blackboard value.

Args
cel_expression	CEL expression that may reference other blackboard values.

Returns
self (for builder pattern)

set_decorators

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set_decorators(
decorators: Optional['Decorators']
) -> 'Node'

Sets decorators for this node.

set_input_proto

View source

set_input_proto(
proto: protobuf_message.Message
) -> 'Data'

Sets a specific proto for creating or updating a blackboard value.

Args
proto	The proto to store in the blackboard

Returns
self (for builder pattern)

set_input_protos

View source

set_input_protos(
protos: List[protobuf_message.Message]
) -> 'Data'

Sets list of specific protos for creating or updating a blackboard value.

Args
protos	The protos to store in the blackboard (will be wrapped in an intrinsic_proto.executive.AnyList.

Returns
self (for builder pattern)

set_operation

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set_operation(
operation: intrinsic.solutions.behavior_tree.Data.OperationType
) -> 'Data'

Sets the mode of the performed operation.

Args
operation	operation to perform, see enum.

Returns
self (for builder pattern)

set_world_query

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set_world_query(
world_query: intrinsic.solutions.behavior_tree.WorldQuery
) -> 'Data'

show

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show() -> None

validate

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validate() -> None

Validates the current input.

This checks if one and only one input is set for the Data node.

Raises
InvalidArgumentError	raised if the node is in a state that could not be converted to a valid proto.

visit

View source

visit(
containing_tree: 'BehaviorTree',
callback: Callable[['BehaviorTree', Union['BehaviorTree', 'Node', 'Condition']], None]
) -> None