Feature to plot XML to image

bt_view/src/bt_view/bt_view.py

@@ -198,7 +198,7 @@ def _make_history_image(
 def draw_pygraphviz(
     g: nx.Graph,
     fname: str,
-    modifier,
+    modifier: Optional[callable] = None,
 ):
     A = nx.nx_agraph.to_agraph(g)  # convert to a graphviz graph
     for node in A.nodes():

bt_view/src/bt_view/main.py

@@ -20,10 +20,12 @@
 import sys
 
 try:
+    from bt_view import draw_pygraphviz  # type: ignore
     from bt_view import draw_pygraphviz_w_history  # type: ignore
     from bt_view import draw_pygraphviz_w_returnstates  # type: ignore
     from bt_view import draw_pygraphviz_w_valuemod  # type: ignore
 except ImportError:
+    from .bt_view import draw_pygraphviz
     from .bt_view import draw_pygraphviz_w_history
     from .bt_view import draw_pygraphviz_w_returnstates
     from .bt_view import draw_pygraphviz_w_valuemod
@@ -76,7 +78,7 @@ def main(args=sys.argv[1:]):
         parser.print_help()
         sys.exit(1)
 
-    if arguments.bt_xml_fname and arguments.bt_log_fbl_fname:
+    if arguments.bt_xml_fname and arguments.bt_log_fbl_fnames:
         print('When reading FBL log file, XML file is not needed '
               'and will be ignored')
         arguments.bt_xml_fname = None
@@ -93,6 +95,7 @@ def main(args=sys.argv[1:]):
         g, _ = xml_to_networkx(bt_xml_fname)
         # if arguments.assemble_subtrees:
         #     g, xpi = assemble_subtrees(g, xpi)
+        draw_pygraphviz(g, os.path.splitext(bt_xml_fname)[0])
 
     # read fbl log file
     if arguments.bt_log_fbl_fnames:

bt_view/test/_test_data/behavior_tree.xml

@@ -0,0 +1,10 @@
+<root main_tree_to_execute="MainTree" >
+    <BehaviorTree ID="MainTree">
+        <Sequence name="root_sequence">
+            <SaySomething   name="action_hello" message="Hello"/>
+            <OpenGripper    name="open_gripper"/>
+            <ApproachObject name="approach_object"/>
+            <CloseGripper   name="close_gripper"/>
+        </Sequence>
+     </BehaviorTree>
+ </root>

bt_view/test/systemtests/test_bt_view_main.py

@@ -82,7 +82,7 @@ def test_bt_view_main_single_fbl(self):
                 fname = os.path.join(
                     TEST_DATA_DIR, f'bt_trace{no}_fbl_log_{data}.svg')
                 # load svg file
-                with open(fname, 'r') as f:
+                with open(fname, 'r', encoding='utf-8') as f:
                     svg = f.read()
                 svg_hashes_fbl[fname] = hash(svg)
                 self._check_svg_for_nodenames(svg)
@@ -230,14 +230,14 @@ def test_bt_view_main_multiple_fbl_files_merge(self):
                 fname = os.path.join(
                     TEST_DATA_DIR, f'bt_trace{no}_fbl_log_{data}.svg')
                 # load svg file
-                with open(fname, 'r') as f:
+                with open(fname, 'r', encoding='utf-8') as f:
                     svg = f.read()
                 svg_hashes_fbl[fname] = hash(svg)
                 self._check_svg_for_nodenames(svg)
 
         # also hash the combined svg files
         for fname in fnames_combined_svg:
-            with open(fname, 'r') as f:
+            with open(fname, 'r', encoding='utf-8') as f:
                 svg = f.read()
             svg_hashes_fbl[fname] = hash(svg)
             self._check_svg_for_nodenames(svg)
@@ -273,3 +273,32 @@ def test_bt_view_main_coverage(self):
             main(['--bt_log_fbl_fname', fname_2,
                   '--coverage-threshold', '0.8'])
         self.assertEqual(cm.exception.code, 1)
+
+    def test_bt_view_main_xml(self):
+        """Test if the correct images are created for XML input."""
+        base_name: str = 'behavior_tree'
+        xml_fname = os.path.join(
+            TEST_DATA_DIR,
+            f'{base_name}.xml')
+        main(['--bt_xml_fname', xml_fname])
+
+        # make sure the files have been created
+        for ext in self.img_exts:
+            fname = os.path.join(
+                TEST_DATA_DIR, f'{base_name}.{ext}')
+            self.assertTrue(os.path.isfile(fname))
+
+        # make sure they match the reference
+        for ext in self.img_exts:
+            with open(os.path.join(
+                TEST_DATA_DIR,
+                f'{base_name}.{ext}'
+                    ), 'rb') as f:
+                out = f.read()
+            with open(os.path.join(
+                TEST_DATA_DIR,
+                'reference',
+                f'{base_name}.{ext}'
+                    ), 'rb') as f:
+                ref = f.read()
+            self.assertEqual(out, ref)