FSMMixin ready for usage

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]  # https://python-poetry.org/docs/pyproject/
 name = "dspygen"
-version = "2024.4.26"
+version = "2024.4.26.2"
 description = "A Ruby on Rails style framework for the DSPy (Demonstrate, Search, Predict) project for Language Models like GPT, BERT, and LLama."
 authors = ["Sean Chatman <info@chatmangpt.com>"]
 readme = "README.md"
@@ -60,6 +60,7 @@ anyio = "^4.3.0"
 docutils = "0.21"
 transitions = "^0.9.0"
 pygame = "^2.5.2"
+py-trees = "^2.2.3"
 
 [tool.poetry.group.test.dependencies]  # https://python-poetry.org/docs/master/managing-dependencies/
 coverage = { extras = ["toml"], version = ">=7.2.5" }

src/dspygen/mixin/btrees/bt_mixin_v2.py

@@ -0,0 +1,115 @@
+##############################################################################
+# Imports
+##############################################################################
+
+import py_trees
+import py_trees.behaviours
+import py_trees.composites
+import py_trees.console
+import py_trees.display
+import py_trees.idioms
+from dspygen.mixin.btrees.btree_mixin import BTMixin
+
+
+class ContextSwitch(py_trees.behaviour.Behaviour):
+    """
+    An example of a context switching class.
+
+    This class sets (in ``initialise()``)
+    and restores a context (in ``terminate()``). Use in parallel with a
+    sequence/subtree that does the work while in this context.
+
+    .. attention:: Simply setting a pair of behaviours (set and reset context) on
+        either end of a sequence will not suffice for context switching. In the case
+        that one of the work behaviours in the sequence fails, the final reset context
+        switch will never trigger.
+    """
+
+    def __init__(self, name: str = "ContextSwitch"):
+        """Initialise with a behaviour name."""
+        super(ContextSwitch, self).__init__(name)
+        self.feedback_message = "no context"
+
+    def initialise(self) -> None:
+        """Backup and set a new context."""
+        self.logger.debug("%s.initialise()[switch context]" % (self.__class__.__name__))
+        # Some actions that:
+        #   1. retrieve the current context from somewhere
+        #   2. cache the context internally
+        #   3. apply a new context
+        self.feedback_message = "new context"
+
+    def update(self) -> py_trees.common.Status:
+        """Just returns RUNNING while it waits for other activities to finish."""
+        self.logger.debug(
+            "%s.update()[RUNNING][%s]"
+            % (self.__class__.__name__, self.feedback_message)
+        )
+        return py_trees.common.Status.RUNNING
+
+    def terminate(self, new_status: py_trees.common.Status) -> None:
+        """Restore the context with the previously backed up context."""
+        self.logger.debug(
+            "%s.terminate()[%s->%s][restore context]"
+            % (self.__class__.__name__, self.status, new_status)
+        )
+        # Some actions that:
+        #   1. restore the cached context
+        self.feedback_message = "restored context"
+
+
+##############################################################################
+# Behavior Tree Integration
+##############################################################################
+
+class MyBehaviorTree(BTMixin):
+    def setup_tree(self):
+        """
+        Overrides the BTMixin setup_tree method to define the specific structure
+        of the behavior tree from the example.
+        """
+        root = py_trees.composites.Parallel(
+            name="Parallel", policy=py_trees.common.ParallelPolicy.SuccessOnOne()
+        )
+        context_switch = ContextSwitch(name="Context")
+        sequence = py_trees.composites.Sequence(name="Sequence", memory=True)
+        for job in ["Action 1", "Action 2"]:
+            success_after_two = py_trees.behaviours.StatusQueue(
+                name=job,
+                queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.RUNNING],
+                eventually=py_trees.common.Status.SUCCESS,
+            )
+            sequence.add_child(success_after_two)
+        root.add_child(context_switch)
+        root.add_child(sequence)
+        self.root = root  # Assign the constructed tree as the root of the mixin
+
+    def register_keys(self):
+        """
+        Registers keys on the blackboard used by behaviors in the tree.
+        """
+        # This demo does not use the blackboard, so this method can be empty or contain relevant keys
+        pass
+
+##############################################################################
+# Main Execution
+##############################################################################
+
+def main():
+    """
+    Entry point for running the behavior tree with BTMixin.
+    """
+    tree = MyBehaviorTree()  # Create an instance of the modified tree
+    tree.print_tree()  # Print the initial state of the tree
+
+    for i in range(1, 6):
+        print("\n--------- Tick {0} ---------\n".format(i))
+        tree.tick_tree()  # Perform a tick
+        tree.print_tree()  # Print the tree after each tick
+
+##############################################################################
+# Running Main
+##############################################################################
+
+if __name__ == '__main__':
+    main()