[qt-js] accepting trees flagged with no status/graph change (#122)

CHANGELOG.rst

@@ -4,7 +4,7 @@ Changelog
 
 Forthcoming
 -----------
-* ...
+* [js] accepting trees flagged with no status/graph change, `#122 <https://github.com/splintered-reality/py_trees_js/pull/122>`_
 
 0.5.1 (2019-10-26)
 ------------------

js/py_trees-0.5.1.js

@@ -199,6 +199,7 @@ joint.shapes.trees.EventMarker = joint.shapes.standard.Rectangle.define(
         position: { x: 0, y: 0 },
         size: { width: 4, height: 30 },
         default_width: 4,
+        significant: true,  // denotes a significant tree status/graph change or otherwise
         attrs: {
             body: {
                 refWidth: '100%',
@@ -1250,18 +1251,17 @@ var py_trees = (function() {
   var _timeline_highlight_event = function({event, highlight}) {
       if ( highlight ) {
           event.toFront()
-          event.attr({
-              body: {
-                  fill: 'red'
-              }
-          })
+          colour = 'red'
+      } else if ( event.get('significant') ) {
+          colour = 'white'
       } else {
-          event.attr({
-              body: {
-                  fill: 'white'
-              }
-          })
+          colour = 'grey'
       }
+      event.attr({
+          body: {
+              fill: colour
+          }
+      })
   }
 
   /**
@@ -1330,6 +1330,9 @@ var py_trees = (function() {
           trees.shift() // pop first element
           cache.set('selected_index', cache.get('selected_index') - 1)
       }
+      // ugly hack since I can't pass in a boolean except as a string
+      //   mayhap there is some way...load the json object into javascript?
+      tree['changed'] = tree['changed'] == 'true' ? true : false
       trees.push(tree)
       _timeline_rebuild_cache_event_markers({graph: timeline_graph})
 
@@ -1369,23 +1372,22 @@ var py_trees = (function() {
       // normalise between 0.05 and 0.95
       normalised_x = 0.05 + 0.9 * (tree['timestamp'] - min_timestamp) / delta
       var event_marker = new joint.shapes.trees.EventMarker()
+      event_marker.set('significant', tree['changed'])
       event_marker.translate(
           dimensions.x + normalised_x * dimensions.width - event_marker.get('default_width') / 2.0,
           0
       )
       event_marker.resize(event_marker.get('default_width'), dimensions.height)
       event_marker.set('tree', tree)
-      if ( graph.get('streaming') ) {
-          if (index == trees.length - 1) {
-              _timeline_highlight_event({event: event_marker, highlight: true})
-              cache.set('selected', event_marker)
-              cache.set('selected_index', index)
-          }
+      if ( !graph.get('streaming') && (index == cache.get('selected_index')) ) {
+          cache.set('selected', event_marker)
+          _timeline_highlight_event({event: event_marker, highlight: true})
+      } else if ( graph.get('streaming') && (index == trees.length - 1) ) {
+          _timeline_highlight_event({event: event_marker, highlight: true})
+          cache.set('selected', event_marker)
+          cache.set('selected_index', index)
       } else {
-          if (index == cache.get('selected_index')) {
-              cache.set('selected', event_marker)
-              _timeline_highlight_event({event: event_marker, highlight: true})
-          }
+          _timeline_highlight_event({event: event_marker, highlight: false})
       }
       cache.embed(event_marker)
       events.push(event_marker)

py_trees_js/viewer/images_rc.py

@@ -482,7 +482,7 @@
 \x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\x12\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x6e\x12\x8c\x06\xd8\
+\x00\x00\x01\x6d\xc5\xcb\x71\x27\
 "
 
 qt_version = QtCore.qVersion().split('.')

py_trees_js/viewer/trees.py

@@ -23,6 +23,7 @@
 
 def create_demo_tree_definition():
     tree = {
+        'changed': "true",
         'timestamp': 1563938995,
         'visited_path': ['1', '2', '7'],
         'behaviours': {
@@ -150,21 +151,24 @@ def create_demo_tree_list():
     trees = []
     tree = create_demo_tree_definition()
     trees.append(copy.deepcopy(tree))
+    # sequence progressed, but running
     tree['visited_path'] = ['1', '2', '7', '8']
-    tree['behaviours']['7']['status'] = 'SUCCESS'
-    tree['behaviours']['8']['status'] = 'RUNNING'
+    tree['behaviours']['7']['status'] = 'SUCCESS'  # first worker
+    tree['behaviours']['8']['status'] = 'RUNNING'  # middle worker
     trees.append(copy.deepcopy(tree))
-    # sequence
+    # not changed
+    tree['changed'] = 'false'
+    trees.append(copy.deepcopy(tree))
+    # sequence failed
+    tree['changed'] = 'true'
     tree['visited_path'] = ['1', '2', '3', '4', '5', '8', '9', '10', '11']
-    tree['behaviours']['2']['status'] = 'FAILURE'
-    tree['behaviours']['8']['status'] = 'SUCCESS'
-    tree['behaviours']['9']['status'] = 'FAILURE'
-    # parallel
-    tree['behaviours']['3']['status'] = 'SUCCESS'
-    tree['behaviours']['10']['status'] = 'SUCCESS'
-    tree['behaviours']['11']['status'] = 'RUNNING'
-    # decorated
-    tree['behaviours']['4']['status'] = 'RUNNING'
-    tree['behaviours']['5']['status'] = 'RUNNING'
+    tree['behaviours']['2']['status'] = 'FAILURE'  # sequence
+    tree['behaviours']['8']['status'] = 'SUCCESS'  # middle worker
+    tree['behaviours']['9']['status'] = 'FAILURE'  # final worker
+    tree['behaviours']['3']['status'] = 'SUCCESS'  # parallel
+    tree['behaviours']['10']['status'] = 'SUCCESS'  # first parallelised
+    tree['behaviours']['11']['status'] = 'RUNNING'  # second parallelised
+    tree['behaviours']['4']['status'] = 'RUNNING'  # decorator
+    tree['behaviours']['5']['status'] = 'RUNNING'  # decorator child
     trees.append(copy.deepcopy(tree))
     return trees

py_trees_js/viewer/viewer.py

@@ -40,6 +40,7 @@ def send_tree_response(reply):
 
 @qt_core.pyqtSlot()
 def send_tree(web_view_page, demo_trees, unused_checked):
+    number_of_trees = len(demo_trees)
     demo_trees[send_tree.index]['timestamp'] = time.time()
     # demo_trees[send_tree.index]['timestamp'] = time.time()
     console.logdebug("[{}] send: tree '{}' [{}][viewer]".format(
@@ -49,7 +50,7 @@ def send_tree(web_view_page, demo_trees, unused_checked):
     )
     javascript_command = "render_tree({{tree: {}}})".format(demo_trees[send_tree.index])
     web_view_page.runJavaScript(javascript_command, send_tree_response)
-    send_tree.index = 0 if send_tree.index == 2 else send_tree.index + 1
+    send_tree.index = 0 if send_tree.index == (number_of_trees - 1) else send_tree.index + 1
 
 
 send_tree.index = 0

py_trees_js/viewer/web_app_rc.py

@@ -166,7 +166,7 @@
 \x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x6e\x18\x1d\xed\xf0\
+\x00\x00\x01\x6e\x1a\x73\xcc\xfc\
 "
 
 qt_version = QtCore.qVersion().split('.')