From 00166d6d51c7d0bb60aef42db02bbbd76bf72d63 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Thu, 7 Nov 2019 09:28:09 -0500
Subject: [PATCH] Namespaced blackboards (#122)

* behaviour uprades
* blackboard watcher on visited working
* fix tree watching
---
 py_trees_ros/actions.py     |  1 +
 py_trees_ros/battery.py     |  5 ++++-
 py_trees_ros/blackboard.py  |  6 +++---
 py_trees_ros/subscribers.py | 12 ++++++++++--
 py_trees_ros/trees.py       |  6 ++++--
 5 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/py_trees_ros/actions.py b/py_trees_ros/actions.py
index df3fa01d..5ed61a74 100644
--- a/py_trees_ros/actions.py
+++ b/py_trees_ros/actions.py
@@ -179,6 +179,7 @@ def shutdown(self):
         """
         Clean up the action client when shutting down.
         """
+        print("Action Client Shutdown")
         self.action_client.destroy()
 
     ########################################
diff --git a/py_trees_ros/battery.py b/py_trees_ros/battery.py
index 04e41d59..63da1a8a 100644
--- a/py_trees_ros/battery.py
+++ b/py_trees_ros/battery.py
@@ -59,7 +59,10 @@ def __init__(self,
                          blackboard_variables={"battery": None},
                          clearing_policy=py_trees.common.ClearingPolicy.NEVER
                          )
-        self.blackboard.register_key(key="battery_low_warning", write=True)
+        self.blackboard.register_key(
+            key="battery_low_warning",
+            access=py_trees.common.Access.WRITE
+        )
         self.blackboard.battery = sensor_msgs.BatteryState()
         self.blackboard.battery.percentage = 0.0
         self.blackboard.battery.power_supply_status = sensor_msgs.BatteryState.POWER_SUPPLY_STATUS_UNKNOWN  # noqa
diff --git a/py_trees_ros/blackboard.py b/py_trees_ros/blackboard.py
index d299f832..72cb9dd6 100644
--- a/py_trees_ros/blackboard.py
+++ b/py_trees_ros/blackboard.py
@@ -308,7 +308,7 @@ def inner(v, k):
 
         return variables
 
-    def post_tick_handler(self, visited_clients: typing.List[uuid.UUID]=None):
+    def post_tick_handler(self, visited_client_ids: typing.List[uuid.UUID]=None):
         """
         Update blackboard watcher views, publish changes and
         clear the activity stream. Publishing is lazy, depending
@@ -318,13 +318,13 @@ def post_tick_handler(self, visited_clients: typing.List[uuid.UUID]=None):
         :class:`py_trees_ros.trees.BehaviourTree`) after each and every tick.
 
         Args:
-            visited_clients: behaviour/blackboard client unique identifiers
+            visited_client_ids: blackboard client unique identifiers
         """
         # update watcher views and publish
         if len(self.views) > 0:
             for view in self.views:
                 if self.node.count_subscribers(view.topic_name) > 0:
-                    if view.is_changed(visited_clients):  # update in here
+                    if view.is_changed(visited_client_ids):  # update in here
                         msg = std_msgs.String()
                         if view.with_activity_stream:
                             msg.data = console.green + "Blackboard Data\n" + console.reset
diff --git a/py_trees_ros/subscribers.py b/py_trees_ros/subscribers.py
index 3baab4b4..792e8168 100644
--- a/py_trees_ros/subscribers.py
+++ b/py_trees_ros/subscribers.py
@@ -374,6 +374,7 @@ def __init__(self,
             qos_profile=qos_profile,
             clearing_policy=clearing_policy
         )
+        self.blackboard = self.attach_blackboard_client(name=self.name)
         self.logger = py_trees.logging.Logger("%s" % self.name)
         if isinstance(blackboard_variables, str):
             self.blackboard_variable_mapping = {blackboard_variables: None}
@@ -390,7 +391,10 @@ def __init__(self,
             self.blackboard_initial_variable_mapping = initialise_variables
         # register the variables
         for name in self.blackboard_variable_mapping:
-            self.blackboard.register_key(key=name, write=True)
+            self.blackboard.register_key(
+                key=name,
+                access=py_trees.common.Access.WRITE
+            )
         # initialise the variables
         for name, value in self.blackboard_initial_variable_mapping.items():
             if not self.blackboard.set(name, value):
@@ -460,7 +464,11 @@ def __init__(self,
             clearing_policy=py_trees.common.ClearingPolicy.ON_SUCCESS
         )
         self.variable_name = variable_name
-        self.blackboard.register_key(key=self.variable_name, write=True)
+        self.blackboard = self.attach_blackboard_client(name=self.name)
+        self.blackboard.register_key(
+            key=self.variable_name,
+            access=py_trees.common.Access.WRITE
+        )
 
     def update(self):
         """
diff --git a/py_trees_ros/trees.py b/py_trees_ros/trees.py
index f6a843d7..62a38f8f 100644
--- a/py_trees_ros/trees.py
+++ b/py_trees_ros/trees.py
@@ -360,7 +360,9 @@ def _on_change_post_tick_handler(self, tree: py_trees.trees.BehaviourTree):
             #         pass
 
         # check for blackboard watchers, update and publish if necessary, clear activity stream
-        self.blackboard_exchange.post_tick_handler(visited_clients=self.snapshot_visitor.visited.keys())
+        self.blackboard_exchange.post_tick_handler(
+            visited_client_ids=self.snapshot_visitor.visited_blackboard_client_ids  # .keys()
+        )
 
     def _publish_serialised_tree(self):
         """"
@@ -378,7 +380,7 @@ def _publish_serialised_tree(self):
             tree_message.behaviours.append(msg)
         # blackboard
         visited_keys = py_trees.blackboard.Blackboard.keys_filtered_by_clients(
-            client_ids=self.snapshot_visitor.visited.keys()
+            client_ids=self.snapshot_visitor.visited_blackboard_client_ids
         )
         for key in visited_keys:
             try: