abtree 0.1.1

异步行为树框架 - 现代化、模块化、易于集成的异步行为树框架

ABTree - Asynchronous Behavior Tree Framework

ABTree (Asynchronous Behavior Tree) is a high-performance asynchronous behavior tree framework built on Python asyncio, supporting concurrent, sequential, conditional logic, and various control mechanisms. The framework includes built-in blackboard mechanism and asynchronous event system for cross-node data sharing and module decoupling. It supports import/export of behavior tree structures for visual configuration and system integration, helping to build flexible and extensible intelligent decision-making systems.

✨ Core Features

• 🚀 Asynchronous Execution: Asynchronous node scheduling based on asyncio, supporting concurrent and sequential control
• 🧩 Modular Architecture: Support for custom node type registration and dynamic construction
• 📊 Blackboard System: Built-in cross-node data sharing mechanism
• 🎯 Event System: Support for event listening and context awareness
• 📝 XML Support: Support for loading and exporting behavior trees from XML files
• 🛠️ CLI Tools: Command-line tools for debugging and testing

🚀 Quick Start

Installation

pip install abtree

Basic Usage

Method 1: Programmatic Construction

import asyncio
from abtree import BehaviorTree, Sequence, Selector, Action, Condition
from abtree.core import Status

# Define action nodes
class OpenDoor(Action):
    async def execute(self, blackboard):
        print("Opening door")
        return Status.SUCCESS

class CloseDoor(Action):
    async def execute(self, blackboard):
        print("Closing door")
        return Status.SUCCESS

class ChangeBattery(Action):
    async def execute(self, blackboard):
        print("Automatically changing battery")
        return Status.SUCCESS

# Define condition nodes
class IsDoorOpen(Condition):
    async def evaluate(self, blackboard):
        return blackboard.get("door_open", False)

class IsBatteryLow(Condition):
    async def evaluate(self, blackboard):
        battery_level = blackboard.get("battery_level", 100)
        return battery_level < 20

# Build behavior tree
root = Selector("Robot Decision")
root.add_child(Sequence("Door Control Sequence"))
root.children[0].add_child(IsDoorOpen("Check Door Status"))
root.children[0].add_child(CloseDoor("Close Door"))

root.add_child(Sequence("Battery Change Sequence"))
root.children[1].add_child(IsBatteryLow("Check Battery Level"))
root.children[1].add_child(ChangeBattery("Change Battery"))

# Create behavior tree instance
tree = BehaviorTree(root)

# Execute
async def main():
    blackboard = tree.blackboard
    blackboard.set("door_open", True)
    blackboard.set("battery_level", 15)
    
    result = await tree.tick()
    print(f"Execution result: {result}")

asyncio.run(main())

Method 2: Load from XML String

import asyncio
from abtree import load_from_xml_string, Status

# Define XML string
xml_string = '''<BehaviorTree name="Robot Decision" description="Simple robot behavior tree">
    <Selector name="Robot Decision">
        <Sequence name="Door Control Sequence">
            <CheckBlackboard name="Check Door Status" key="door_open" expected_value="true" />
            <Log name="Close Door Log" message="Door detected open, preparing to close" />
            <Wait name="Close Door Wait" duration="1.0" />
        </Sequence>
        <Sequence name="Battery Change Sequence">
            <Log name="Battery Change Log" message="Checking battery status" />
            <Wait name="Battery Change Wait" duration="2.0" />
        </Sequence>
    </Selector>
</BehaviorTree>'''

# Load behavior tree from XML string
tree = load_from_xml_string(xml_string)

# Execute
async def main():
    blackboard = tree.blackboard
    blackboard.set("door_open", True)
    
    result = await tree.tick()
    print(f"Execution result: {result}")

asyncio.run(main())

Method 3: Complex XML Configuration Example

import asyncio
from abtree import load_from_xml_string, Status

# Complex robot AI XML configuration
xml_string = '''<BehaviorTree name="Robot AI" description="Intelligent robot behavior tree">
    <Selector name="Main Decision">
        <!-- Door control branch -->
        <Sequence name="Door Control Sequence">
            <CheckBlackboard name="Check Door Status" key="door_open" expected_value="true" />
            <Compare name="Check Door Sensor" key="door_sensor" operator="==" value="true" />
            <Log name="Start Closing Door" message="Door detected open, preparing to close!" />
            <Wait name="Close Door Delay" duration="0.5" />
            <SetBlackboard name="Set Door Closing Status" key="is_closing_door" value="true" />
        </Sequence>
        
        <!-- Patrol branch -->
        <Sequence name="Patrol Sequence">
            <CheckBlackboard name="Check Door Closed" key="door_open" expected_value="false" />
            <Log name="Start Patrol" message="Door closed, starting patrol..." />
            <Wait name="Patrol Time" duration="2.0" />
            <SetBlackboard name="Set Patrol Status" key="is_patrolling" value="true" />
        </Sequence>
        
        <!-- Battery change branch -->
        <Sequence name="Battery Change Sequence">
            <Compare name="Check Battery Level" key="battery_level" operator="&lt;=" value="20" />
            <Log name="Start Battery Change" message="Battery level low, preparing to change battery..." />
            <Wait name="Battery Change Time" duration="3.0" />
            <SetBlackboard name="Replenish Battery" key="battery_level" value="100" />
        </Sequence>
    </Selector>
</BehaviorTree>'''

# Load behavior tree from XML string
tree = load_from_xml_string(xml_string)

# Execute
async def main():
    blackboard = tree.blackboard
    blackboard.set("door_open", True)
    blackboard.set("battery_level", 15)
    
    for i in range(3):
        result = await tree.tick()
        print(f"Tick {i+1}: {result}")
        print(f"Status: Closing door={blackboard.get('is_closing_door')}, Patrolling={blackboard.get('is_patrolling')}")

asyncio.run(main())

📚 Documentation

• API Documentation
• Example Code
• CLI Tool Usage

🛠️ Development

Install Development Dependencies

pip install -e ".[dev]"

Run Tests

pytest tests/

Code Formatting

black abtree/
isort abtree/

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

🤝 Contributing

Welcome to submit Issues and Pull Requests!

📞 Contact

• Project Homepage: https://github.com/abtree/abtree
• Issue Feedback: https://github.com/abtree/abtree/issues