修改了UI，增加了一些节点

README.md

@@ -107,12 +107,13 @@ pybts --dir=logs --debug --host=localhost --port=10000
 
 After running the appropriate command, you can open a web browser and navigate to `http://localhost:10000` to view and interact with the behavior tree visualizations and management tools provided by pybts.
 
-![image-20240329031220580](README.assets/image-20240329031220580.png)
+![DEMO_Sequence  10-10 _ 100](README.assets/DEMO_Sequence%20%2010-10%20_%20100.png)
 
-![image-20240329031233459](README.assets/image-20240329031233459.png)
+![image-20240401211609525](README.assets/image-20240401211609525.png)
 
 
 
+![image-20240401211552611](README.assets/image-20240401211552611.png)
 
 
 ## Acknowledgements

demo_2.py

@@ -0,0 +1,145 @@
+import logging
+import time
+
+import py_trees
+from py_trees import common
+from py_trees.common import Status
+
+import pybts
+
+
+class ToggleStatus(pybts.Condition):
+    def __init__(self, status_list: list, name: str = ''):
+        super().__init__(name=name)
+        self.init_count = 0
+        self.update_count = 0
+        self.terminate_count = 0
+        self.status_list = status_list
+
+    def update(self) -> Status:
+        self.update_count += 1
+        return self.status_list[(self.update_count - 1) % len(self.status_list)]
+
+    def to_data(self):
+        return {
+            'init_count'     : self.init_count,
+            'update_count'   : self.update_count,
+            'terminate_count': self.terminate_count,
+            'status_list'    : self.status_list
+        }
+
+    def terminate(self, new_status: common.Status) -> None:
+        self.terminate_count += 1
+
+    def initialise(self) -> None:
+        self.init_count += 1
+
+
+class Success(pybts.Success):
+    def __init__(self, name: str = ''):
+        super().__init__(name=name)
+        self.update_count = 0
+        self.stop_count = 0
+
+    def update(self) -> Status:
+        self.update_count += 1
+        return super().update()
+
+    def to_data(self):
+        return {
+            'update_count': self.update_count,
+            'stop_count'  : self.stop_count,
+        }
+
+    def stop(self, new_status: common.Status) -> None:
+        super().stop(new_status)
+        self.stop_count += 1
+
+
+class Failure(pybts.Failure):
+    def __init__(self, name: str = ''):
+        super().__init__(name=name)
+        self.update_count = 0
+        self.stop_count = 0
+
+    def update(self) -> Status:
+        self.update_count += 1
+        return super().update()
+
+    def to_data(self):
+        return {
+            'update_count': self.update_count,
+            'stop_count'  : self.stop_count,
+        }
+
+    def stop(self, new_status: common.Status) -> None:
+        super().stop(new_status)
+        self.stop_count += 1
+
+
+class Running(pybts.Running):
+    def __init__(self, name: str = ''):
+        super().__init__(name=name)
+        self.update_count = 0
+        self.stop_count = 0
+
+    def update(self) -> Status:
+        self.update_count += 1
+        return super().update()
+
+    def to_data(self):
+        return {
+            'update_count': self.update_count,
+            'stop_count'  : self.stop_count,
+        }
+
+    def stop(self, new_status: common.Status) -> None:
+        super().stop(new_status)
+        self.stop_count += 1
+
+
+_name_index = -1
+
+
+def new_name():
+    global _name_index
+    _name_index += 1
+    return str(_name_index)
+
+
+if __name__ == '__main__':
+    pybts.logging.level = pybts.logging.Level.DEBUG
+
+    status_list_1 = [Status.SUCCESS, Status.RUNNING, Status.RUNNING, Status.FAILURE]
+    node = pybts.Selector(
+            children=[
+                pybts.Parallel(
+                        children=[
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                        ],
+                ),
+                pybts.Parallel(
+                        children=[
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                            ToggleStatus(name=new_name(), status_list=status_list_1),
+                        ],
+                )
+            ]
+    )
+
+    tree = pybts.Tree(node, name='DEMO_Sequence')
+    tree.setup()
+    board = pybts.Board(tree=tree, log_dir='./logs')
+    board.clear()
+
+    for r in range(10):
+        tree.reset()
+        for i in range(10):
+            tree.tick()
+            board.track()
+            time.sleep(0.5)
+
+    print(tree.tip().name)

pybts/__init__.py

@@ -5,6 +5,8 @@
 from . import board
 from .tree import Tree
 from .node import *
+from .composites import *
 from .board import Board
 from .builder import Builder
+from .decorators import *
 from py_trees import logging

pybts/board.py

@@ -1,9 +1,10 @@
+import json
 import os
+import time
 import typing
 
 from pybts import utility
 from pybts.tree import Tree
-import jsonpickle
 
 
 class Board:
@@ -26,17 +27,23 @@ def track(self, info: dict = None):
             'id'   : self.track_id,
             'step' : self.tree.count,
             'round': self.tree.round,
-            'stage': f'{self.tree.round}-{self.tree.count}',
             'info' : info,
-            'tree' : utility.bt_to_json(self.tree.root),
+            'time' : int(time.time() * 1000)  # ms时间戳
         }
 
-        json_text = jsonpickle.dumps(json_data, indent=4)
         history_path = os.path.join(self.history_dir, f'{self.track_id}.json')
         with open(history_path, 'w') as f:
-            f.write(json_text)
+            tree_data = utility.bt_to_json(self.tree.root)
+            try:
+                utility.json_dump({
+                    **json_data,
+                    'tree': tree_data
+                }, f, ensure_ascii=False)
+            except Exception as e:
+                print(e)
+                raise e
         with open(self.current_path, 'w') as f:
-            f.write(json_text)
+            utility.json_dump(json_data, f, ensure_ascii=False)
 
     def clear(self):
         self.track_id = 0
@@ -56,7 +63,5 @@ def iterate(self) -> typing.Iterator[dict]:
                 if filename.endswith('.json'):
                     filepath = os.path.join(self.history_dir, filename)
                     with open(filepath, 'r', encoding='utf') as f:
-                        json_data = jsonpickle.loads(f.read())
+                        json_data = utility.json_loads(f.read())
                         yield json_data
-
-