[infra] ascii->unicode updates

.settings/org.eclipse.core.resources.prefs

@@ -5,6 +5,8 @@ encoding//py_trees_ros/blackboard.py=utf-8
 encoding//py_trees_ros/exceptions.py=utf-8
 encoding//py_trees_ros/mock/actions.py=utf-8
 encoding//py_trees_ros/mock/dock.py=utf-8
+encoding//py_trees_ros/programs/blackboard_watcher.py=utf-8
+encoding//py_trees_ros/programs/tree_watcher.py=utf-8
 encoding//py_trees_ros/subscribers.py=utf-8
 encoding//py_trees_ros/trees.py=utf-8
 encoding//tests/test_action_client.py=utf-8

py_trees_ros/programs/tree_watcher.py

@@ -15,9 +15,9 @@
    :prog: py-trees-tree-watcher
 
 Command line utility to interact with a running
-:class:`~py_trees_ros.trees.BehaviourTree` instance. Print a static ascii
-art view of the tree, view snapshots of the tree and tick statistics as
-a stream or display the dot graph of the tree.
+:class:`~py_trees_ros.trees.BehaviourTree` instance. Print the tree structure
+or a live snapshot of the tree state as unicode art on your console,
+view tick statistics as a stream or display the tree as a dot graph.
 
 .. image:: images/tree-watcher.gif
 
@@ -40,12 +40,12 @@
 
 def description(formatted_for_sphinx):
     short = "Open up a window onto the behaviour tree!\n"
-    long = ("\nPrint static or dynamic (snapshot) ascii art views of the tree on the console\n"
+    long = ("\nPrint static or dynamic (snapshot) unicode art views of the tree on the console\n"
             "or render a dot graph (static view only). Use the namespace argument to select\n"
             "from trees when there are multiple available.\n"
             )
     examples = [
-        "", "--ascii-tree", "--dot-tree", "--namespace=foo --ascii-tree"
+        "", "--unicode-tree", "--dot-tree", "--namespace=foo --unicode-tree"
     ]
     script_name = "py-trees-tree-watcher"
 
@@ -93,23 +93,23 @@ def command_line_argument_parser(formatted_for_sphinx=True):
     parser.add_argument('-n', '--namespace', nargs='?', default=None, help='namespace of pytree communications (if there should be more than one tree active)')
     group = parser.add_mutually_exclusive_group()
     group.add_argument(
-        '-s', '--ascii-snapshot',
+        '-s', '--snapshot',
         dest='viewing_mode',
         action='store_const',
         const=py_trees_ros.trees.WatcherMode.ASCII_SNAPSHOT,
-        help='print an ascii snapshot of the tree state')
+        help='print a live snapshot of the tree state as unicode art on your console')
     group.add_argument(
-        '-a', '--ascii-tree',
+        '-t', '--tree',
         dest='viewing_mode',
         action='store_const',
         const=py_trees_ros.trees.WatcherMode.ASCII_TREE,
-        help='print an ascii representation of the tree structure')
+        help='print the tree structure as unicode art on your console')
     group.add_argument(
         '-d', '--dot-tree',
         dest='viewing_mode',
         action='store_const',
         const=py_trees_ros.trees.WatcherMode.DOT_TREE,
-        help='print a dot representation of the tree structure')
+        help='render the tree structure as a dot graph')
     return parser
 
 

py_trees_ros/trees.py

@@ -67,19 +67,19 @@ class BehaviourTree(py_trees.trees.BehaviourTree):
 
     Args:
         root (:class:`~py_trees.behaviour.Behaviour`): root node of the tree
-        ascii_tree_debug (:obj:`bool`, optional): print to console the visited ascii tree after every tick
+        unicode_tree_debug (:obj:`bool`, optional): print to console the visited ascii tree after every tick
 
     Raises:
         AssertionError: if incoming root variable is not the correct type
     """
     def __init__(self,
                  root,
-                 ascii_tree_debug=False):
+                 unicode_tree_debug=False):
         super(BehaviourTree, self).__init__(root)
         self.snapshot_visitor = py_trees.visitors.SnapshotVisitor()
-        if ascii_tree_debug:
+        if unicode_tree_debug:
             self.add_post_tick_handler(
-                lambda tree: self._ascii_tree_post_tick_handler(self.snapshot_visitor, tree)
+                lambda tree: self._unicode_tree_post_tick_handler(self.snapshot_visitor, tree)
             )
         self.winds_of_change_visitor = py_trees.visitors.WindsOfChangeVisitor()
         self.visitors.append(self.snapshot_visitor)
@@ -327,10 +327,10 @@ def _publish_serialised_tree(self):
             tree_message.behaviours.append(msg)
         self.publishers.snapshots.publish(tree_message)
 
-    def _ascii_tree_post_tick_handler(self, snapshot_visitor, tree):
+    def _unicode_tree_post_tick_handler(self, snapshot_visitor, tree):
         print(
             "\n" +
-            py_trees.display.ascii_tree(
+            py_trees.display.unicode_tree(
                 tree.root,
                 visited=snapshot_visitor.visited,
                 previously_visited=tree.snapshot_visitor.previously_visited
@@ -461,7 +461,7 @@ def deserialise_tree_recursively(msg):
         ####################
         if self.viewing_mode == WatcherMode.ASCII_SNAPSHOT:
             console.banner("Tick {}".format(msg.statistics.count))
-            print(py_trees.display.ascii_tree(
+            print(py_trees.display.unicode_tree(
                 root=root,
                 visited=self.snapshot_visitor.visited,
                 previously_visited=self.snapshot_visitor.previously_visited
@@ -494,7 +494,7 @@ def deserialise_tree_recursively(msg):
         ####################
         elif self.viewing_mode == WatcherMode.ASCII_TREE:
             print("")
-            print(py_trees.display.ascii_tree(
+            print(py_trees.display.unicode_tree(
                 root=root,
                 show_status=True,
                 visited=self.snapshot_visitor.visited,

tests/test_action_client.py

@@ -47,10 +47,10 @@ def create_action_client():
     return behaviour
 
 
-def print_ascii_tree(tree):
+def print_unicode_tree(tree):
     print(
         "\n" +
-        py_trees.display.ascii_tree(
+        py_trees.display.unicode_tree(
             tree.root,
             visited=tree.snapshot_visitor.visited,
             previously_visited=tree.snapshot_visitor.previously_visited
@@ -92,7 +92,7 @@ def test_success(self):
         root = create_action_client()
         tree = py_trees_ros.trees.BehaviourTree(
             root=root,
-            ascii_tree_debug=False
+            unicode_tree_debug=False
         )
         tree.setup()
 
@@ -141,7 +141,7 @@ def test_priority_interrupt(self):
         )
         root = py_trees.composites.Selector()
         root.add_children([success_eventually, action_client])
-        tree = py_trees_ros.trees.BehaviourTree(root=root, ascii_tree_debug=False)
+        tree = py_trees_ros.trees.BehaviourTree(root=root, unicode_tree_debug=False)
         tree.setup()
 
         executor = rclpy.executors.MultiThreadedExecutor(num_threads=4)
@@ -151,7 +151,7 @@ def test_priority_interrupt(self):
         assert_banner()
 
         tree.tick()
-        print_ascii_tree(tree)
+        print_unicode_tree(tree)
 
         assert_details("action_client.status", "RUNNING", root.status)
         self.assertEqual(action_client.status, py_trees.common.Status.RUNNING)
@@ -163,7 +163,7 @@ def test_priority_interrupt(self):
 
         while tree.count < number_of_iterations and "cancelled" not in action_client.feedback_message:
             executor.spin_once(timeout_sec=0.1)
-        print_ascii_tree(tree)
+        print_unicode_tree(tree)
         assert_details("action_client.status", "INVALID", action_client.status)
         self.assertEqual(action_client.status, py_trees.common.Status.INVALID)