Merge pull request #210 from JdeRobot/bt-status-subtrees

Bt status for subtrees

backend/filesystem/library_demo/config.json

@@ -1 +1,8 @@
-{"name": "library_demo", "config": {"editorShowAccentColors": true, "theme": "dark", "btOrder": "bottom-to-top"}}
+{
+    "name": "library_demo",
+    "config": {
+        "editorShowAccentColors": true,
+        "theme": "dark",
+        "btOrder": "top-to-bottom"
+    }
+}

backend/tree_api/json_translator.py

@@ -198,7 +198,7 @@ def translate(content, tree_path, raw_order):
     f.close()
 
 
-def translate_tree_structure(content):
+def translate_tree_structure(content, raw_order):
     # Parse the JSON data
     parsed_json = content
 
@@ -209,12 +209,12 @@ def translate_tree_structure(content):
     # Get the tree structure
     tree_structure = get_tree_structure(link_models, node_models)
     # Get the order of bt: True = Ascendent; False = Descendent
-    # order = raw_order == "bottom-to-top"
+    order = raw_order == "bottom-to-top"
 
     # Generate XML
     start_node_id = get_start_node_id(node_models, link_models)
     root = build_tree_structure(
-        node_models, link_models, tree_structure, start_node_id, False
+        node_models, link_models, tree_structure, start_node_id, order
     )
 
     return root

backend/tree_api/urls.py

@@ -20,6 +20,11 @@
     path("save_file/", views.save_file, name="save_file"),
     path("translate_json/", views.translate_json, name="translate_json"),
     path("get_tree_structure/", views.get_tree_structure, name="get_tree_structure"),
+    path(
+        "get_subtree_structure/",
+        views.get_subtree_structure,
+        name="get_subtree_structure",
+    ),
     path(
         "get_universe_configuration/",
         views.get_universe_configuration,

backend/tree_api/views.py

@@ -195,6 +195,7 @@ def get_project_configuration(request):
 def get_tree_structure(request):
 
     project_name = request.GET.get("project_name")
+    bt_order = request.GET.get("bt_order")
 
     # Generate the paths
     base_path = os.path.join(settings.BASE_DIR, "filesystem")
@@ -208,7 +209,45 @@ def get_tree_structure(request):
                 graph_data = json.load(f)
 
                 # Get the tree structure
-                tree_structure = json_translator.translate_tree_structure(graph_data)
+                tree_structure = json_translator.translate_tree_structure(
+                    graph_data, bt_order
+                )
+
+            return JsonResponse({"success": True, "tree_structure": tree_structure})
+        except Exception as e:
+            return JsonResponse(
+                {"success": False, "message": f"Error reading file: {str(e)}"},
+                status=500,
+            )
+    else:
+        return Response(
+            {"error": "The project does not have a graph definition"}, status=404
+        )
+
+
+@api_view(["GET"])
+def get_subtree_structure(request):
+
+    project_name = request.GET.get("project_name")
+    subtree_name = request.GET.get("subtree_name")
+    bt_order = request.GET.get("bt_order")
+
+    # Generate the paths
+    base_path = os.path.join(settings.BASE_DIR, "filesystem")
+    project_path = os.path.join(base_path, project_name)
+    subtree_path = os.path.join(project_path, "code/trees/subtrees/json")
+    graph_path = os.path.join(subtree_path, subtree_name + ".json")
+
+    # Check if the project exists
+    if os.path.exists(graph_path):
+        try:
+            with open(graph_path, "r") as f:
+                graph_data = json.load(f)
+
+                # Get the tree structure
+                tree_structure = json_translator.translate_tree_structure(
+                    graph_data, bt_order
+                )
 
             return JsonResponse({"success": True, "tree_structure": tree_structure})
         except Exception as e:
@@ -345,7 +384,7 @@ def save_subtree(request):
                 f.write(subtree_json)
 
             # TOFIX: order hardcoded
-            json_translator.translate(subtree_json, xml_path, "top-to-bottom")
+            # json_translator.translate(subtree_json, xml_path, "top-to-bottom")
 
             return JsonResponse({"success": True}, status=status.HTTP_200_OK)
 
@@ -886,11 +925,18 @@ def generate_app(request):
 
         # Copy all the subtrees to the temp folder
         for subtree_file in os.listdir(subtree_path):
-            if subtree_file.endswith(".xml"):
-                shutil.copy(
-                    os.path.join(subtree_path, subtree_file), result_trees_tmp_path
+            if subtree_file.endswith(".json"):
+                subtree_name = base = os.path.splitext(os.path.basename(subtree_file))[
+                    0
+                ]
+                xml_path = os.path.join(
+                    project_path, "code", "trees", "subtrees", f"{subtree_name}.xml"
                 )
 
+                json_translator.translate(subtree_file, xml_path, bt_order)
+
+                shutil.copy(xml_path, result_trees_tmp_path)
+
         # Generate a self-contained tree
         tree_generator.generate(
             result_trees_tmp_path, action_path, self_contained_tree_path
@@ -958,7 +1004,7 @@ def generate_dockerized_app(request):
     action_path = os.path.join(project_path, "code/actions")
 
     working_folder = "/tmp/wf"
-    subtree_path = os.path.join(project_path, "code/trees/subtrees")
+    subtree_path = os.path.join(project_path, "code/trees/subtrees/json")
     result_trees_tmp_path = os.path.join("/tmp/trees/")
     self_contained_tree_path = os.path.join(working_folder, "self_contained_tree.xml")
     tree_gardener_src = os.path.join(settings.BASE_DIR, "tree_gardener")
@@ -980,11 +1026,27 @@ def generate_dockerized_app(request):
         json_translator.translate(main_tree_graph, main_tree_tmp_path, bt_order)
 
         # 3. Copy all the subtrees to the temp folder
-        for subtree_file in os.listdir(subtree_path):
-            if subtree_file.endswith(".xml"):
-                shutil.copy(
-                    os.path.join(subtree_path, subtree_file), result_trees_tmp_path
-                )
+        try:
+            for subtree_file in os.listdir(subtree_path):
+                if subtree_file.endswith(".json"):
+                    subtree_name = base = os.path.splitext(
+                        os.path.basename(subtree_file)
+                    )[0]
+                    print(os.path.join(subtree_path, subtree_file))
+
+                    xml_path = os.path.join(
+                        project_path, "code", "trees", "subtrees", f"{subtree_name}.xml"
+                    )
+
+                    with open(os.path.join(subtree_path, subtree_file), "r+") as f:
+                        # Reading from a file
+                        subtree_json = f.read()
+
+                    json_translator.translate(subtree_json, xml_path, bt_order)
+
+                    shutil.copy(xml_path, result_trees_tmp_path)
+        except:
+            print("No subtrees")
 
         # 4. Generate a self-contained tree
         tree_generator.generate(

backend/tree_gardener/tree_gardener/tree_factory.py

@@ -312,15 +312,15 @@ def get_branches(element):
             if child_instance is not None:
                 child = child_instance
         retry_name = "Retry_" + str(nfailures)
-        instance = Class(name=retry_name, num_failures=int(nfailures), child=child)
+        instance = Class(name=class_name, num_failures=int(nfailures), child=child)
     elif "Repeat" in class_name:
         num_cycles = element.get("num_cycles")
         for child_element in element:
             child_instance = get_branches(child_element)
             if child_instance is not None:
                 child = child_instance
         repeat_name = "Repeat_" + str(num_cycles)
-        instance = Class(name=repeat_name, child=child, num_success=int(num_cycles))
+        instance = Class(name=class_name, child=child, num_success=int(num_cycles))
     elif (
         "Inverter" in class_name
         or "Force" in class_name

backend/tree_gardener/tree_gardener/tree_tools.py

@@ -106,7 +106,8 @@ def ascii_blackboard_to_json(blackboard):
     json_str = '"blackboard":{'
     do_append_coma = False
 
-    # FIX: [entry, value] = line.strip()[1:].split(":")
+    ansi_escape = re.compile(r"\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])")
+    blackboard = ansi_escape.sub("", blackboard)
 
     for line in iter(blackboard.splitlines()):
         if "Blackboard Data" in line:
@@ -115,18 +116,20 @@ def ascii_blackboard_to_json(blackboard):
             continue
         if do_append_coma:
             json_str += ","
-        else:
-            do_append_coma = True
         # Remove whitespaces with strip and remove / from entry
-        [entry, value] = line.strip()[1:].split(":")
-        json_str += f'"{entry.strip()}":"{value.strip()}"'
+        try:
+            [entry, value] = line.strip()[1:].split(":")
+            json_str += f'"{entry.strip()}":"{value.strip()}"'
+            do_append_coma = True
+        except:
+            pass
     json_str += "}"
     return json_str
 
 
 def ascii_bt_to_json(tree, blackboard, file):
     file.write("{")
-    # file.write(f"{ascii_tree_to_json(tree)},{ascii_blackboard_to_json(blackboard)}")
-    file.write(f"{ascii_tree_to_json(tree)}")
+    file.write(f"{ascii_tree_to_json(tree)},{ascii_blackboard_to_json(blackboard)}")
+    # file.write(f"{ascii_tree_to_json(tree)}")
     file.write("}")
     file.close()

frontend/src/components/header_menu/HeaderMenu.tsx

@@ -1,4 +1,4 @@
-import { MouseEventHandler, useEffect, useState } from "react";
+import { MouseEventHandler, useContext, useEffect, useState } from "react";
 import AppBar from "@mui/material/AppBar";
 import Toolbar from "@mui/material/Toolbar";
 import {
@@ -25,6 +25,7 @@ import { ReactComponent as ResetIcon } from "./img/reset.svg";
 import ProjectModal from "./modals/ProjectModal";
 import UniversesModal from "./modals/UniverseModal";
 import SettingsModal from "../settings_popup/SettingsModal";
+import { OptionsContext } from "../options/Options";
 
 const HeaderMenu = ({
   currentProjectname,
@@ -50,6 +51,9 @@ const HeaderMenu = ({
   setGazeboEnabled: Function;
   manager: CommsManager;
 }) => {
+  // Settings
+  const settings = useContext(OptionsContext);
+
   // Project state
   const [existingProjects, setExistingProjects] = useState("");
 
@@ -202,7 +206,7 @@ const HeaderMenu = ({
         const appBlob = await generateDockerizedApp(
           modelJson,
           currentProjectname,
-          "top-to-bottom",
+          settings.btOrder.value,
         );
 
         // Convert the blob to base64 using FileReader

frontend/src/components/helper/TreeEditorHelper.ts

@@ -261,3 +261,33 @@ export const configureEngine = (
     .getActionEventBus()
     .registerAction(new ZoomCanvasAction({ inverseZoom: true }));
 };
+
+export const findSubtree = (
+  baseTree: any,
+  subTree: string,
+  oldIndex: number = -1,
+): number[] | undefined => {
+  var path: number[] = [];
+  var nodeChilds;
+  var name = baseTree.name;
+
+  if (name === subTree) {
+    return oldIndex >= 0 ? [] : undefined;
+  }
+
+  try {
+    nodeChilds = baseTree["childs"];
+  } catch (error) {
+    return undefined;
+  }
+
+  for (let index = 0; index < nodeChilds.length; index++) {
+    var result = findSubtree(nodeChilds[index], subTree, index);
+    if (result) {
+      path = [index].concat(result);
+      return path;
+    }
+  }
+
+  return undefined;
+};