Publish current action (#106)

Author: Flova

.gitignore

@@ -196,3 +196,5 @@ ENV/
 **/docs/_out
 **/docs/cppapi
 **/docs/pyapi
+
+.ruff_cache/

.pre-commit-config.yaml

@@ -6,10 +6,7 @@ repos:
       args:
         - "--fix"
         - "--exit-non-zero-on-fix"
-- repo: https://github.com/psf/black
-  rev: 23.10.0  # keep this version for Ubuntu support
-  hooks:
-    - id: black
+    - id: ruff-format
 - repo: https://github.com/pocc/pre-commit-hooks
   rev: v1.3.5
   hooks:

dynamic_stack_decider/dynamic_stack_decider/abstract_action_element.py

@@ -1,7 +1,11 @@
 from abc import ABCMeta
+from typing import TYPE_CHECKING
 
 from dynamic_stack_decider.abstract_stack_element import AbstractStackElement
 
+if TYPE_CHECKING:
+    from dynamic_stack_decider.dsd import DSD
+
 
 class AbstractActionElement(AbstractStackElement, metaclass=ABCMeta):
     """
@@ -14,19 +18,16 @@ class AbstractActionElement(AbstractStackElement, metaclass=ABCMeta):
     If the action is complete, it can remove itself from the stack by performing a pop command.
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd: "DSD", parameters: dict[str, bool | int | float | str]):
         """
         Constructor of the action element
         :param blackboard: Shared blackboard for data exchange between elements
         :param dsd: The stack decider which has this element on its stack.
-        :param parameters: Optional parameters which serve as arguments to this element
+        :param parameters: Parameters which serve as arguments to this element
         """
         super().__init__(blackboard, dsd, parameters)
         # Reevaluation can be disabled by setting 'r' or 'reevaluate' to False
-        if parameters is not None:
-            self.never_reevaluate = not parameters.get("r", True) or not parameters.get("reevaluate", True)
-        else:
-            self.never_reevaluate = False
+        self.never_reevaluate = not parameters.get("r", True) or not parameters.get("reevaluate", True)
 
     def do_not_reevaluate(self):
         """
@@ -41,6 +42,6 @@ def repr_dict(self) -> dict:
         """
         return {
             "type": "action",
-            "name": self.__class__.__name__,
+            "name": self.name,
             "debug_data": self._debug_data,
         }

dynamic_stack_decider/dynamic_stack_decider/abstract_decision_element.py

@@ -26,7 +26,7 @@ def repr_dict(self) -> dict:
         """
         return {
             "type": "decision",
-            "name": self.__class__.__name__,
+            "name": self.name,
             "debug_data": self._debug_data,
         }
 

dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py

@@ -1,8 +1,11 @@
 from abc import ABCMeta, abstractmethod
-from typing import Union
+from typing import TYPE_CHECKING, Union
 
 from dynamic_stack_decider.logger import get_logger
 
+if TYPE_CHECKING:
+    from dynamic_stack_decider.dsd import DSD
+
 
 class AbstractStackElement(metaclass=ABCMeta):
     """
@@ -12,14 +15,14 @@ class AbstractStackElement(metaclass=ABCMeta):
     Each element which inherits from the AbstractStackElement can be used as a root element on the stack.
     """
 
-    _dsd = None
-    _init_data = None
+    _dsd: "DSD"
+    parameters: dict[str, bool | int | float | str]
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd: "DSD", parameters: dict[str, bool | int | float | str]):
         """
         :param blackboard: Shared blackboard for data exchange between elements
         :param dsd: The stack decider which has this element on its stack.
-        :param parameters: Optional parameters which serve as arguments to this element
+        :param parameters: Parameters which serve as arguments to this element
         """
         self._debug_data = {}
         """
@@ -28,8 +31,16 @@ def __init__(self, blackboard, dsd, parameters=None):
         """
 
         self._dsd = dsd
+        self.parameters = parameters
         self.blackboard = blackboard
 
+    @property
+    def name(self) -> str:
+        """
+        Returns the name of the action
+        """
+        return self.__class__.__name__
+
     def pop(self):
         """
         Help method which pops the element of the stack.
@@ -90,6 +101,6 @@ def repr_dict(self) -> dict:
         """Represent this stack element as dictionary which is JSON encodable"""
         return {
             "type": "abstract",
-            "name": self.__class__.__name__,
+            "name": self.name,
             "debug_data": self._debug_data,
         }

dynamic_stack_decider/dynamic_stack_decider/dsd.py

@@ -108,6 +108,7 @@ class DSD:
     stack_reevaluate = False
     do_not_reevaluate = False
     old_representation = ""
+    debug_active_action_cache: Optional[str] = None
 
     def __init__(self, blackboard, debug_topic: str = None, node: Optional[Node] = None):
         """
@@ -142,6 +143,10 @@ def __init__(self, blackboard, debug_topic: str = None, node: Optional[Node] = N
             debug_stack_topic = f"{debug_topic}/dsd_stack"
             self.debug_stack_publisher = node.create_publisher(String, debug_stack_topic, 10)
             get_logger().debug(f"Debugging stack on '{debug_stack_topic}'")
+            # Publish the currently active action
+            debug_current_action_topic = f"{debug_topic}/dsd_current_action"
+            self.debug_current_action_publisher = node.create_publisher(String, debug_current_action_topic, 10)
+            get_logger().debug(f"Debugging current action on '{debug_current_action_topic}'")
 
     def register_actions(self, module_path):
         """
@@ -196,7 +201,7 @@ def _bind_modules(self, element):
         else:
             raise ValueError(f'Unknown parser tree element type "{type(element)}" for element "{element}"!')
 
-    def _init_element(self, element):
+    def _init_element(self, element: AbstractTreeElement):
         """Initializes the module belonging to the given element."""
         if isinstance(element, SequenceTreeElement):
             initialized_actions = list()
@@ -206,7 +211,7 @@ def _init_element(self, element):
         else:
             return element.module(self.blackboard, self, element.parameters)
 
-    def set_start_element(self, start_element):
+    def set_start_element(self, start_element: AbstractTreeElement):
         """
         This method defines the start element on the stack, which stays always on the bottom of the stack.
         It should be called in __init__.
@@ -236,6 +241,7 @@ def update(self, reevaluate: bool = True):
         """
         try:
             self.debug_publish_stack()
+            self.debug_publish_current_action()
 
             if reevaluate and not self.do_not_reevaluate:
                 self.stack_exec_index = 0
@@ -362,3 +368,28 @@ def debug_publish_tree(self):
             data = self.tree.repr_dict()
             msg = String(data=json.dumps(data))
             self.debug_tree_publisher.publish(msg)
+
+    def debug_publish_current_action(self):
+        """
+        Publishes the name of the currently active action
+        """
+        # Check if debugging is active and if there is something on the stack
+        if not self.debug_active or len(self.stack) == 0:
+            return
+
+        # Get the top element
+        stack_top = self.stack[-1][1]
+        # Check if it is an action or a sequence element and retrieve the current action
+        if isinstance(stack_top, AbstractActionElement):
+            current_action = stack_top
+        elif isinstance(stack_top, SequenceElement):
+            current_action = stack_top.current_action
+        else:
+            return
+
+        # Only publish if the action changed
+        if current_action.name != self.debug_active_action_cache:
+            # Publish the name of the current action
+            self.debug_current_action_publisher.publish(String(data=current_action.name))
+            # Cache the current action name
+            self.debug_active_action_cache = current_action.name

dynamic_stack_decider/dynamic_stack_decider/sequence_element.py

@@ -1,5 +1,11 @@
+from typing import TYPE_CHECKING
+
+from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from dynamic_stack_decider.abstract_stack_element import AbstractStackElement
 
+if TYPE_CHECKING:
+    from dynamic_stack_decider.dsd import DSD
+
 
 class SequenceElement(AbstractStackElement):
     """
@@ -10,11 +16,11 @@ class SequenceElement(AbstractStackElement):
     This is not an abstract class to inherit from.
     """
 
-    def __init__(self, blackboard, dsd, actions=()):
+    def __init__(self, blackboard, dsd: "DSD", actions: list[AbstractActionElement]):
         """
         :param actions: list of initialized action elements
         """
-        super().__init__(blackboard, dsd)
+        super().__init__(blackboard, dsd, dict())
         self.actions = actions
         self.current_action_index = 0
 
@@ -40,21 +46,17 @@ def in_last_element(self):
         return self.current_action_index == len(self.actions) - 1
 
     @property
-    def current_action(self):
+    def current_action(self) -> AbstractActionElement:
         """
         Returns the currently executed action of the sequence element
-
-        :rtype: AbstractActionElement
         """
         return self.actions[self.current_action_index]
 
-    def repr_dict(self):
+    def repr_dict(self) -> dict:
         """
         Represent this stack element as dictionary which is JSON encodable
-
-        :rtype: dict
         """
-        self.publish_debug_data("Active Element", self.current_action.__class__.__name__)
+        self.publish_debug_data("Active Element", self.current_action.name)
         if self.current_action._debug_data:
             self.publish_debug_data("Corresponding debug data", self.current_action._debug_data)
         data = {

dynamic_stack_decider/dynamic_stack_decider/tree.py

@@ -86,7 +86,6 @@ def __init__(self, name, parent, parameters=None, unset_parameters=None):
         :param parent: the parent element, None for the root element
         :param parameters: A dictionary of parameters
         :param unset_parameters: A dictionary of parameters that must be set later
-        :type parent: DecisionTreeElement
         """
         # Call the constructor of the superclass
         super().__init__(name, parent, parameters, unset_parameters)
@@ -185,7 +184,6 @@ def __init__(self, name, parent, parameters=None, unset_parameters=None):
         Create a new ActionTreeElement
         :param name: the class name of the corresponding AbstractActionElement
         :param parent: the parent element
-        :type parent: DecisionTreeElement
         :param parameters: A dictionary of parameters
         :param unset_parameters: A dictionary of parameters that must be set later
         """