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138 changes: 138 additions & 0 deletions
138
...igh-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeSVGNode.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| package us.ihmc.behaviors.behaviorTree; | ||
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| import org.apache.commons.lang.WordUtils; | ||
| import org.jfree.svg.SVGGraphics2D; | ||
| import us.ihmc.behaviors.door.DoorTraversalDefinition; | ||
| import us.ihmc.behaviors.sequence.ActionNodeState; | ||
| import us.ihmc.behaviors.sequence.ActionSequenceDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.ChestOrientationActionDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.FootstepPlanActionDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.HandPoseActionDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.SakeHandCommandActionDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.ScrewPrimitiveActionDefinition; | ||
| import us.ihmc.behaviors.sequence.actions.WaitDurationActionDefinition; | ||
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| import java.awt.*; | ||
| import java.util.ArrayList; | ||
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| public class BehaviorTreeSVGNode | ||
| { | ||
| private final SVGGraphics2D svgGraphics2D; | ||
| private final BehaviorTreeNodeState<?> node; | ||
| private final ArrayList<BehaviorTreeSVGNode> allNodes; | ||
| private int originX; | ||
| private int originY; | ||
| private int x; | ||
| private int y; | ||
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| public BehaviorTreeSVGNode(SVGGraphics2D svgGraphics2D, | ||
| BehaviorTreeNodeState<?> node, | ||
| ArrayList<BehaviorTreeSVGNode> allNodes, | ||
| int index, | ||
| int originX, | ||
| int originY) | ||
| { | ||
| this.svgGraphics2D = svgGraphics2D; | ||
| this.node = node; | ||
| this.allNodes = allNodes; | ||
| this.originX = originX; | ||
| this.originY = originY; | ||
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| x = originX; | ||
| y = originY; | ||
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| if (node instanceof ActionNodeState actionNode) | ||
| { | ||
| // index = actionNode.getActionIndex(); | ||
| // node. | ||
| } | ||
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| // svgGraphics2D.setStroke(); | ||
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| svgGraphics2D.setColor(new Color((int) (Math.random() * 256), (int) (Math.random() * 256), (int) (Math.random() * 256), 100)); | ||
| svgGraphics2D.setStroke(new BasicStroke(0.5f)); | ||
| svgGraphics2D.fillRect(x, y, 200, 30); | ||
| svgGraphics2D.setColor(Color.GRAY); | ||
| svgGraphics2D.setStroke(new BasicStroke(0.25f)); | ||
| drawRect(x, y, 12, 10); | ||
| x += 2; | ||
| y += 8; | ||
| svgGraphics2D.setFont(new Font("Arial", Font.PLAIN, 8)); | ||
| String indexString = "%d".formatted(index); | ||
| svgGraphics2D.drawString(indexString, x + 4 * (2 - indexString.length()), y); | ||
| x += 12; | ||
| y += 4; | ||
| svgGraphics2D.setColor(Color.BLACK); | ||
| svgGraphics2D.setFont(new Font("Arial", Font.PLAIN, 12)); | ||
| svgGraphics2D.drawString("%s".formatted(filterName(node)), x, y); | ||
| y += 13; | ||
| svgGraphics2D.setColor(Color.GRAY); | ||
| svgGraphics2D.setFont(new Font("Arial", Font.PLAIN, 10)); | ||
| svgGraphics2D.drawString("%s".formatted(getTypeName(node.getDefinition())), x, y); | ||
|
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| } | ||
|
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| public int getHeight() | ||
| { | ||
| return y - originY; | ||
| } | ||
|
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| public int getWidth() | ||
| { | ||
| return x - originX; | ||
| } | ||
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| private void drawRect(int x, int y, int width, int height) | ||
| { | ||
| // The supplied drawRect is broken for strokes < 1.0f | ||
| svgGraphics2D.drawLine(x, y, x + width, y); | ||
| svgGraphics2D.drawLine(x, y, x, y + height); | ||
| svgGraphics2D.drawLine(x, y + height, x + width, y + height); | ||
| svgGraphics2D.drawLine(x + width, y, x + width, y + height); | ||
| } | ||
|
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| private String filterName(BehaviorTreeNodeState<?> node) | ||
| { | ||
| String name = node.getDefinition().getName(); | ||
|
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| if (name.startsWith("CHECK POINT ")) | ||
| name = name.substring("CHECK POINT ".length()); | ||
| if (name.startsWith("RASVideo_")) | ||
| name = name.substring("RASVideo_".length()); | ||
| if (name.endsWith(".json")) | ||
| { | ||
| name = name.substring(0, name.length() - 5); | ||
| String afterUnderscore = name.substring(name.lastIndexOf("_") + 1); | ||
| String titleCaseString = WordUtils.capitalizeFully(afterUnderscore.replaceAll("([a-z])([A-Z])", "$1 $2")); | ||
| name = titleCaseString; | ||
| } | ||
|
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| return name; | ||
| } | ||
|
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| private String getTypeName(BehaviorTreeNodeDefinition node) | ||
| { | ||
| if (node.getName().contains("CHECK POINT")) | ||
| return "Checkpoint Node"; | ||
|
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| if (node instanceof BehaviorTreeRootNodeDefinition) | ||
| return "Root Node"; | ||
| if (node instanceof DoorTraversalDefinition) | ||
| return "Door Traversal Coordinator"; | ||
| if (node instanceof ActionSequenceDefinition) | ||
| return "Action Sequence"; | ||
| if (node instanceof WaitDurationActionDefinition) | ||
| return "Wait Action"; | ||
| if (node instanceof HandPoseActionDefinition) | ||
| return "Hand Pose Action"; | ||
| if (node instanceof FootstepPlanActionDefinition) | ||
| return "Walk Action"; | ||
| if (node instanceof ChestOrientationActionDefinition) | ||
| return "Chest Trajectory Action"; | ||
| if (node instanceof SakeHandCommandActionDefinition) | ||
| return "Finger Trajectory Action"; | ||
| if (node instanceof ScrewPrimitiveActionDefinition) | ||
| return "Screw Trajectory Action"; | ||
| return ""; | ||
| } | ||
| } |
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