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Behavior Tree Compilator PoC: Blockly -> PDDL #21 #22

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Behavior Tree Compilator PoC: Blockly -> PDDL #21 #22

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4957c78
example blockly "user_object"
Mar 23, 2022
b1d71f3
Behavior Tree basic structure
May 18, 2022
31605ed
WIP code gen and sep file for BT
Jul 12, 2022
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Binary file added .vs/slnx.sqlite
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155 changes: 153 additions & 2 deletions blocks/operational_model_behavior_tree_PoC.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -789,7 +789,8 @@
<field name="HUE">150</field>
</block>
</value>
</block><block type="factory_base" id="=gu21?lVsQZUld#HASc?" deletable="false" movable="false" x="10" y="10">
</block>
<block type="factory_base" id="=gu21?lVsQZUld#HASc?" deletable="false" movable="false" x="10" y="10">
<mutation connections="BOTH"></mutation>
<field name="NAME">Act</field>
<field name="INLINE">AUTO</field>
Expand Down Expand Up @@ -838,4 +839,154 @@
<field name="HUE">345</field>
</block>
</value>
</block></xml>
</block>
<block type="factory_base" id="C71eeM34YccT84S|cw)q" deletable="false" movable="false" x="10" y="10">
<mutation connections="NONE"/>
<field name="NAME">User Object</field>
<field name="INLINE">EXT</field>
<field name="CONNECTIONS">NONE</field>
<statement name="INPUTS">
<block type="input_statement" id="q{L(aZkKm)tg0shCSG+0">
<field name="INPUTNAME">input_name</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_input" id="{:gu3NA.y8Y[rUnE{b(R">
<field name="TEXT">Name</field>
<field name="FIELDNAME">var_name</field>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id=",Kb:T)8!f~K!dNDrc}EX"/>
<block type="type_string" id="){6oS-z8}%T:L?W^5gaH"/>
</value>
<next>
<block type="input_value" id="c^uh()2~L4-HieBg$H=[">
<field name="INPUTNAME">input_age</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_input" id="}~b|Gc6J_un~i))=l!)N">
<field name="TEXT">Age</field>
<field name="FIELDNAME">var_age</field>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id="BRfwAft!F9S2nSg|`%a3"/>
<block type="type_number" id="M~Q!t[UNN7aUIik:DXUy"/>
</value>
<next>
<block type="input_statement" id="`_ii:$/lWD8Mic+/GVlm">
<field name="INPUTNAME">input_role</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_dropdown" id="1Xx8T5b@j9=(`$Df(#Oc">
<mutation options="["text=""","text=""","text="""]"/>
<field name="FIELDNAME">Role</field>
<field name="USER0">Admin</field>
<field name="CPU0">var_admin</field>
<field name="USER1">User</field>
<field name="CPU1">var_user</field>
<field name="USER2">Developer</field>
<field name="CPU2">var_dev</field>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id="slyik{k!fQ[K/D9_)i@y"/>
<block type="type_string" id=";l)#I2,o9c3vyu;zfqqB"/>
</value>
<next>
<block type="input_value" id="5,e3RDjGUSJ*.r{$~tUI">
<field name="INPUTNAME">user_id</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_input" id="r#UStMR@V8|P.##o2}$E">
<field name="TEXT">User Id</field>
<field name="FIELDNAME">var_user_id</field>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id="t7a,v887hoS!6y^,8Jf0"/>
<block type="type_number" id="(KO%ELIKlCv#Gx(uHX~b"/>
</value>
<next>
<block type="input_statement" id="YgUJiq}(MWx2doVN2#{G">
<field name="INPUTNAME">input_manager</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_input" id="#p_^KRi{QdE/a]rJK@H3">
<field name="TEXT">Manger</field>
<field name="FIELDNAME">var_manager</field>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id="ynusGJng3a.[@`Z-WyOW"/>
<block type="type_group" id="a6vqYH=@VnvF5oy5k2Gj">
<mutation types="2"/>
<value name="TYPE0">
<block type="type_string" id="cjm@s/imh-G{h}dk*|,F"/>
</value>
<value name="TYPE1">
<block type="type_list" id="px:I/mHrSOp14,ut7#N9"/>
</value>
</block>
</value>
<next>
<block type="input_statement" id="CiU]4RHuMSNM_-#Mn|0(">
<field name="INPUTNAME">input_profile_photo</field>
<field name="ALIGN">LEFT</field>
<statement name="FIELDS">
<block type="field_input" id="UPl6rRw#`l]49LK_{J@c">
<field name="TEXT">Profile Photo</field>
<field name="FIELDNAME">var_image_address</field>
<next>
<block type="field_image" id="=`U$2{/OLM^H^O{5G/2,">
<field name="SRC">https://www.gstatic.com/codesite/ph/images/star_on.gif</field>
<field name="WIDTH">15</field>
<field name="HEIGHT">15</field>
<field name="ALT">*</field>
<field name="FLIP_RTL">FALSE</field>
<next>
<block type="field_colour" id="EE0GCD~cl+18rdYAV]g-">
<field name="COLOUR">#ff0000</field>
<field name="FIELDNAME">NAME</field>
</block>
</next>
</block>
</next>
</block>
</statement>
<value name="TYPE">
<shadow type="type_null" id=")|f~6UMdxsh^[Ea0@tAM"/>
<block type="type_other" id="d{|oL8P8so^WZ^A.FLKF">
<field name="TYPE">Image address</field>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
<value name="TOOLTIP">
<block type="text" id="Rkt=:ZZz,6%T9)Okf2c7" deletable="false" movable="false">
<field name="TEXT"/>
</block>
</value>
<value name="HELPURL">
<block type="text" id="vbk^U|e_?+zC%vH$uT;l" deletable="false" movable="false">
<field name="TEXT"/>
</block>
</value>
<value name="COLOUR">
<block type="colour_hue" id="5^$D}S.r*CD7U1JdYJRB">
<mutation colour="#5b67a5"/>
<field name="HUE">230</field>
</block>
</value>
</block>
</xml>
37 changes: 37 additions & 0 deletions poc-blockly-bt/Content/VisualPDDL/js/btpddl_block_codegen.js
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@@ -0,0 +1,37 @@
Blockly.JavaScript['sequence_BT'] = function(block) {
var text_name = block.getFieldValue('NAME');
// TODO: Assemble JavaScript into code variable.
var code = 'seqnode_' + text_name + ' = py_trees.composites.Sequence("'+ text_name+'")';
return code;
};

Blockly.JavaScript['condition_BT'] = function(block) {
var text_name = block.getFieldValue('NAME');
var dropdown_type = block.getFieldValue('type');
// TODO: Assemble JavaScript into code variable.
var code = ' ?' + text_name + ' - ' + dropdown_type;
return code;
};

Blockly.JavaScript['action_BT'] = function(block) {
var text_name = block.getFieldValue('NAME');
var dropdown_type = block.getFieldValue('type');
// TODO: Assemble JavaScript into code variable.
var code = ' ?' + text_name + ' - ' + dropdown_type;
return code;
};

Blockly.JavaScript['selector_BT'] = function(block) {
var text_name = block.getFieldValue('NAME');
// TODO: Assemble JavaScript into code variable.
var code = 'selnode_' + text_name + ' = py_trees.composites.Selector("'+ text_name+'")';
return code;
};


Blockly.JavaScript['parallel_BT'] = function(block) {
var text_name = block.getFieldValue('NAME');
// TODO: Assemble JavaScript into code variable.
var code = 'parnode_' + text_name + ' = py_trees.composites.Parallel("'+ text_name+'")';
return code;
};
109 changes: 109 additions & 0 deletions poc-blockly-bt/Content/VisualPDDL/js/btpddl_block_defs.js
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@@ -0,0 +1,109 @@
'use strict';

goog.require('Blockly.Blocks');
goog.require('Blockly');

// Selector composite UI
Blockly.Blocks['sequence_BT'] = {
init: function() {
// sequence composite behaviour name
this.appendDummyInput()
.appendField("sequence")
.appendField(new Blockly.FieldTextInput("name"), "NAME")
// sequence memory input UI
// when enabled if Tree RUNNING on the previous tick, resumes with the RUNNING child
this.appendDummyInput()
.appendField('memory')
.appendField(new Blockly.FieldDropdown([
['EN', 'EN_MEM'],
['DIS', 'DIS_MEM']
]), 'MEMORY');
// list of children to add in sequence
this.appendStatementInput("child")
.appendField("childs")
.setCheck("child");
this.setPreviousStatement(true, "child");
this.setNextStatement(true, "child");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl("");
}
};

Blockly.Blocks['condition_BT'] = {
init: function() {
this.appendStatementInput("PREDICATE_CALLS")
.setCheck("predicate_call")
.appendField("condition");
this.setPreviousStatement(true, "predicate_call");
this.setNextStatement(true, "predicate_call");
this.setColour(120);
this.setTooltip("");
this.setHelpUrl("");
}
};

Blockly.Blocks['action_BT'] = {
init: function() {
this.appendStatementInput("PREDICATE_CALLS")
.setCheck("predicate_call")
.appendField("action");
this.setPreviousStatement(true, "predicate_call");
this.setNextStatement(true, "predicate_call");
this.setColour(0);
this.setTooltip("");
this.setHelpUrl("");
}
};

// Selector composite UI
Blockly.Blocks['selector_BT'] = {
init: function() {
// selector composite behaviour name
this.appendDummyInput()
.appendField("selector")
.appendField(new Blockly.FieldTextInput("name"), "NAME")
// selector memory input UI
// when enabled if Tree RUNNING on the previous tick, resumes with the RUNNING child
this.appendDummyInput()
.appendField('memory')
.appendField(new Blockly.FieldDropdown([
['EN', 'EN_MEM'],
['DIS', 'DIS_MEM']
]), 'MEMORY');
// list of children to add
this.appendStatementInput("child")
.appendField("childs")
.setCheck("child");
this.setPreviousStatement(true, "child");
this.setNextStatement(true, "child");
this.setColour(60);
this.setTooltip("");
this.setHelpUrl("");
}
};

// Parallel composite UI
Blockly.Blocks['parallel_BT'] = {
init: function() {
// parallel composite behaviour name
this.appendDummyInput()
.appendField("parallel")
.appendField(new Blockly.FieldTextInput("name"), "NAME");
this.appendDummyInput()
.appendField('policy')
.appendField(new Blockly.FieldDropdown([
['optional', 'OP_POLICY'],
['base', 'B_POLICY']
]), 'POLICCY');
// list of children to add
this.appendStatementInput("child")
.appendField("childs")
.setCheck("child");
this.setPreviousStatement(true, "child");
this.setNextStatement(true, "child");
this.setColour(180);
this.setTooltip("");
this.setHelpUrl("");
}
};
2 changes: 1 addition & 1 deletion poc-blockly-bt/Content/VisualPDDL/js/vppdl_block_defs.js
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Expand Up @@ -818,4 +818,4 @@ Blockly.Blocks['not'] = {
this.setTooltip("");
this.setHelpUrl("");
}
};
};
11 changes: 11 additions & 0 deletions poc-blockly-bt/index.html
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Expand Up @@ -30,6 +30,9 @@
<script type="text/javascript" src="generators/javascript.js"></script>
<script type="text/javascript" src="Content/VisualPDDL/js/vppdl_block_codegen.js"></script>
<script type="text/javascript" src="Content/Blockly/js/msg/en.js"></script>
<!-- Behaviour Tree Block Definition and code generation scripts-->
<script type="text/javascript" src="Content/VisualPDDL/js/btpddl_block_codegen.js"></script>
<script type="text/javascript" src="Content/VisualPDDL/js/btpddl_block_defs.js"></script>
<!-- <script type="text/javascript" src="Content/Blockly/js/msg/messages.js"></script> -->

<!-- Global site tag (gtag.js) - Google Analytics -->
Expand Down Expand Up @@ -141,6 +144,14 @@ <h5 class="modal-title">4K photo</h5>
</block>
</category>
<category name="PDDL Predicates" colour="#995ba5" custom="PREDICATES"></category>
<category name="Behavior tree" colour="#5b67a5" class="list-group-item">
<block type="selector_BT"></block>
<block type="sequence_BT"></block>
<block type="parallel_BT"></block>
<block type="condition_BT"></block>
<block type="action_BT"></block>
<!-- <block type="not"></block> -->
</category>
</xml>

<div id="toast"></div>
Expand Down