behavortreely.py
A behavior tree implementation in Python. It runs behavior trees defined in JSON format and will trigger actions in your code.
Note: this is the first full working draft of behavortreely.py, the example, especially the JSON is very place holder. I intend to update this in the coming days and weeks to be better documented. Probably just cursed myself by by saying that. Ah well.
Overview
- Prepare your tree JSON.
- Instantiate a behavortreely BehaviorTree by loading your tree JSON.
- Register your action handlers, condition handlers, and selector handlers if needed.
- Run the tree: once, many times, ongoing, etc.
- Run via start() activates the tree's ongoing tick
- Or run via tick() run it once
Example
test_json = """
{
"nodeName":"root of behavior XYZ",
"goal":"to test treely",
"description":"this is the root",
"slug":"root",
"type":"LimitTime",
"limit":7,
"weight":0,
"time_started":null,
"tries":null,
"selectorHandler":null,
"conditionHandler":null,
"actionHandler":null,
"children":[
{
"nodeName":"try to win",
"slug":"try-your-best0",
"description":"keep trying your best",
"type":"Selector",
"weight":0.5,
"parameters":[],
"children":[
{
"nodeName":"try to win1",
"slug":"try-your-best1",
"description":"keep trying your best1",
"type":"Action",
"weight":0.6,
"parameters":[],
"children":[],
"successHandler":null,
"failHandler":null,
"selectorHandler":null,
"conditionHandler":null,
"actionHandler":"do a test action",
"parentNodeSlug":"root"
},
{
"nodeName":"try to win2",
"slug":"try-your-best2",
"description":"keep trying your best2",
"type":"Action",
"weight":0.5,
"parameters":[],
"children":[],
"successHandler":null,
"failHandler":null,
"selectorHandler":null,
"conditionHandler":null,
"actionHandler":"do a test action",
"parentNodeSlug":"root"
},
{
"nodeName":"try to win3",
"slug":"try-your-best3",
"description":"keep trying your best3",
"type":"Action",
"weight":0.9,
"parameters":[],
"children":[],
"successHandler":null,
"failHandler":null,
"selectorHandler":null,
"conditionHandler":null,
"actionHandler":"do a test action",
"parentNodeSlug":"root"
}
],
"successHandler":null,
"failHandler":null,
"selectorHandler":"do a test selector",
"conditionHandler":null,
"actionHandler":null,
"parentNodeSlug":"root"
}
]
}
"""
def condition_test():
print("running a condition")
return True
def action_test():
print("running an action")
return True
def selector_test(choices, blackboard, tree):
# could do a lot more than this to provide proper slug from choices
return choices[0]
print("starting as script...")
# create the behavior tree instance
bt = BehaviorTree(test_json)
# register any needed actions, conditions, or selectors referred to in the JSON
bt.actions["do a test action"] = action_test
bt.conditions["do a test condition"] = condition_test
bt.selectors["do a test selector"] = selector_test
# use start() instead of tick() to keep the behavior tree running
# bt.start()
# use tick() to run the tree once
bt.tick()
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