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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>🌳 Enhanced Branch BehaviorTree Analysis</title>
<script src="https://d3js.org/d3.v7.min.js"></script>
<style>
body {
font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
margin: 0;
padding: 20px;
background-color: #f5f5f5;
line-height: 1.6;
}
.header {
text-align: center;
margin-bottom: 30px;
padding: 20px;
background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
color: white;
border-radius: 8px;
box-shadow: 0 4px 6px rgba(0,0,0,0.1);
}
.legend-container {
background: white;
margin: 20px 0;
padding: 20px;
border-radius: 8px;
box-shadow: 0 2px 4px rgba(0,0,0,0.1);
}
.legend-title {
font-size: 18px;
font-weight: bold;
margin-bottom: 15px;
text-align: center;
}
.legend-grid {
display: grid;
grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
gap: 15px;
}
.legend-section {
padding: 10px;
border-radius: 6px;
background: #f8f9fa;
}
.legend-section h4 {
margin: 0 0 10px 0;
font-size: 14px;
color: #495057;
}
.legend-item {
display: flex;
align-items: center;
margin: 5px 0;
font-size: 12px;
}
.legend-circle {
width: 16px;
height: 16px;
border-radius: 50%;
margin-right: 8px;
border: 2px solid;
}
/* Node type colors */
.legend-control { background: #e3f2fd; border-color: #2196F3; }
.legend-action { background: #e8f5e8; border-color: #4CAF50; }
.legend-condition { background: #fff3e0; border-color: #FF9800; }
.legend-decorator { background: #f3e5f5; border-color: #9C27B0; }
.legend-subtree { background: #efebe9; border-color: #795548; }
/* Change type colors */
.legend-added { background: #c8e6c9; border-color: #4CAF50; border-width: 3px; }
.legend-removed { background: #ffcdd2; border-color: #f44336; border-width: 3px; }
.legend-modified { background: #fff3cd; border-color: #ffc107; border-width: 3px; }
.legend-moved { background: #bbdefb; border-color: #2196F3; border-width: 3px; }
.summary-stats {
display: grid;
grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
gap: 20px;
margin: 20px 0 40px 0;
}
.stat-card {
background: white;
padding: 20px;
border-radius: 8px;
box-shadow: 0 2px 4px rgba(0,0,0,0.1);
text-align: center;
}
.stat-number {
font-size: 2.5em;
font-weight: bold;
margin-bottom: 10px;
}
.total-files { color: #2196F3; }
.changed-files { color: #4CAF50; }
.unchanged-files { color: #9E9E9E; }
.file-section {
background: white;
margin: 20px 0;
border-radius: 8px;
box-shadow: 0 2px 4px rgba(0,0,0,0.1);
overflow: hidden;
}
.file-header {
padding: 20px;
background: #f8f9fa;
border-bottom: 1px solid #dee2e6;
display: flex;
justify-content: space-between;
align-items: center;
}
.file-path {
font-family: monospace;
font-size: 16px;
color: #495057;
margin: 0;
}
.change-badge {
display: inline-block;
padding: 4px 12px;
border-radius: 20px;
font-size: 12px;
font-weight: bold;
}
.tree-controls {
display: flex;
gap: 10px;
}
.zoom-controls {
display: flex;
gap: 5px;
align-items: center;
}
.zoom-btn {
background: #007bff;
color: white;
border: none;
padding: 5px 10px;
border-radius: 4px;
cursor: pointer;
font-size: 12px;
}
.zoom-btn:hover {
background: #0056b3;
}
.zoom-level {
font-size: 12px;
color: #666;
min-width: 40px;
text-align: center;
}
.badge-modified { background: #fff3cd; color: #856404; }
.badge-added { background: #d4edda; color: #155724; }
.badge-removed { background: #f8d7da; color: #721c24; }
.badge-error { background: #f8d7da; color: #721c24; }
.tree-container {
display: flex;
gap: 20px;
padding: 20px;
min-height: 500px;
}
.tree-panel {
flex: 1;
background: #fafafa;
border-radius: 6px;
padding: 15px;
position: relative;
}
.tree-title {
text-align: center;
margin-bottom: 15px;
font-weight: bold;
padding-bottom: 10px;
border-bottom: 2px solid #dee2e6;
}
.tree-svg-container {
position: relative;
overflow: hidden;
border: 1px solid #ddd;
border-radius: 4px;
}
.tree-svg {
width: 100%;
height: 450px;
cursor: move;
}
.node circle {
fill: #fff;
stroke: #333;
stroke-width: 2px;
cursor: pointer;
transition: all 0.3s ease;
}
.node text {
font: 11px sans-serif;
fill: #333;
cursor: pointer;
pointer-events: none;
}
.link {
fill: none;
stroke: #ccc;
stroke-width: 1.5px;
transition: all 0.3s ease;
}
/* Node type colors */
.node-control circle { fill: #e3f2fd; stroke: #2196F3; }
.node-action circle { fill: #e8f5e8; stroke: #4CAF50; }
.node-condition circle { fill: #fff3e0; stroke: #FF9800; }
.node-decorator circle { fill: #f3e5f5; stroke: #9C27B0; }
.node-subtree circle { fill: #efebe9; stroke: #795548; }
/* Enhanced change type colors with glow effect */
.node-added circle {
fill: #c8e6c9;
stroke: #4CAF50;
stroke-width: 4px;
filter: drop-shadow(0 0 6px #4CAF50);
animation: pulse-green 2s infinite;
}
.node-removed circle {
fill: #ffcdd2;
stroke: #f44336;
stroke-width: 4px;
filter: drop-shadow(0 0 6px #f44336);
animation: pulse-red 2s infinite;
}
.node-modified circle {
fill: #fff3cd;
stroke: #ffc107;
stroke-width: 4px;
filter: drop-shadow(0 0 6px #ffc107);
animation: pulse-yellow 2s infinite;
}
.node-moved circle {
fill: #bbdefb;
stroke: #2196F3;
stroke-width: 4px;
filter: drop-shadow(0 0 6px #2196F3);
animation: pulse-blue 2s infinite;
}
@keyframes pulse-green {
0%, 100% { transform: scale(1); }
50% { transform: scale(1.1); }
}
@keyframes pulse-red {
0%, 100% { transform: scale(1); }
50% { transform: scale(1.1); }
}
@keyframes pulse-yellow {
0%, 100% { transform: scale(1); }
50% { transform: scale(1.1); }
}
@keyframes pulse-blue {
0%, 100% { transform: scale(1); }
50% { transform: scale(1.1); }
}
.tooltip {
position: absolute;
text-align: left;
padding: 10px;
font: 12px sans-serif;
background: rgba(0, 0, 0, 0.9);
color: white;
border-radius: 6px;
pointer-events: none;
opacity: 0;
max-width: 300px;
z-index: 1000;
transition: opacity 0.3s;
}
.no-changes {
text-align: center;
padding: 40px;
color: #6c757d;
font-style: italic;
}
.error-section {
background: #f8d7da;
color: #721c24;
padding: 20px;
border-radius: 6px;
margin: 10px;
}
.changes-summary {
background: #f8f9fa;
padding: 15px;
margin: 10px 0;
border-radius: 6px;
}
.change-item {
margin: 5px 0;
padding: 5px 10px;
border-radius: 4px;
font-family: monospace;
font-size: 12px;
}
.change-added { background: #d4edda; color: #155724; }
.change-removed { background: #f8d7da; color: #721c24; }
.change-modified { background: #fff3cd; color: #856404; }
.change-moved { background: #cce7ff; color: #004085; }
/* SubTree specific styles */
.change-subtree {
font-weight: bold;
border-left: 4px solid #795548;
padding-left: 10px !important;
}
.change-subtree.change-added {
background: #e8f5e8;
color: #2e7d32;
border-left-color: #4CAF50;
}
.change-subtree.change-removed {
background: #ffeaea;
color: #c62828;
border-left-color: #f44336;
}
.change-subtree.change-modified {
background: #fffbf0;
color: #e65100;
border-left-color: #ff9800;
}
.tree-svg.dragging {
cursor: grabbing;
}
</style>
</head>
<body>
<div class="header">
<h1>🌳 Enhanced BehaviorTree Branch Analysis</h1>
<h2>develop ↔️ feature-check-undocking-needed</h2>
<p>Interactive tree visualization of all BehaviorTree changes between branches</p>
</div>
<div class="legend-container">
<div class="legend-title">📖 Legend & Color Guide</div>
<div class="legend-grid">
<div class="legend-section">
<h4>🔍 Node Types</h4>
<div class="legend-item">
<div class="legend-circle legend-control"></div>
Control Nodes (Sequence, Parallel, etc.)
</div>
<div class="legend-item">
<div class="legend-circle legend-action"></div>
Action Nodes (실행 노드)
</div>
<div class="legend-item">
<div class="legend-circle legend-condition"></div>
Condition Nodes (조건 노드)
</div>
<div class="legend-item">
<div class="legend-circle legend-decorator"></div>
Decorator Nodes (데코레이터)
</div>
<div class="legend-item">
<div class="legend-circle legend-subtree"></div>
SubTree Nodes (서브트리)
</div>
</div>
<div class="legend-section">
<h4>⚡ Change Types</h4>
<div class="legend-item">
<div class="legend-circle legend-added"></div>
Added Nodes (새로 추가됨)
</div>
<div class="legend-item">
<div class="legend-circle legend-removed"></div>
Removed Nodes (삭제됨)
</div>
<div class="legend-item">
<div class="legend-circle legend-modified"></div>
Modified Nodes (수정됨)
</div>
<div class="legend-item">
<div class="legend-circle legend-moved"></div>
Moved Nodes (이동됨)
</div>
</div>
</div>
<div style="text-align: center; margin-top: 10px; font-size: 12px; color: #666;">
💡 Tip: 변경된 노드들은 반짝이는 애니메이션과 글로우 효과로 강조됩니다. 마우스를 올려서 상세 정보를 확인하세요!
</div>
</div>
<div class="summary-stats">
<div class="stat-card">
<div class="stat-number total-files">2</div>
<div class="stat-label">Total Files</div>
</div>
<div class="stat-card">
<div class="stat-number changed-files">2</div>
<div class="stat-label">Files with Changes</div>
</div>
<div class="stat-card">
<div class="stat-number unchanged-files">0</div>
<div class="stat-label">Unchanged Files</div>
</div>
</div>
<div class="file-section">
<div class="file-header">
<h3 class="file-path">gaemi_behavior_tree/behavior_trees/gaemi_1/DISPATCH.xml <span class="change-badge badge-modified">MODIFIED</span></h3>
</div>
<div class="changes-summary"><div class="change-item change-added">Added Action (ID: PrintLogAction)</div><div class="change-item change-added">Added Action (ID: GetParameterAction)</div><div class="change-item change-added">Added Action (ID: PrintLogAction)</div><div class="change-item change-added">Added Action (ID: SetBoolAction)</div><div class="change-item change-added">Added Action (ID: ChangeDriveMode)</div><div class="change-item change-added">Added Action (ID: PrintLogAction)</div><div class="change-item change-added">Added Condition (ID: CheckNeedUndocking)</div><div class="change-item change-removed">Removed Action (ID: ChangeDriveMode)</div><div class="change-item change-removed">Removed Action (ID: PrintLogAction)</div><div class="change-item change-removed">Removed SubTree (ID: CheckCargoSingleDump)</div><div class="change-item change-added">Added Action (ID: SetBoolAction)</div><div class="change-item change-added">Added Action (ID: SetBoolAction)</div><div class="change-item change-added">Added SubTree (ID: CheckCargoSingleDump)</div><div class="change-item change-removed">Removed Action (ID: SetBoolAction)</div><div class="change-item change-added">Added Condition (ID: CheckNeedUndocking)</div><div class="change-item change-added">Added Action (ID: GetParameterAction)</div><div class="change-item change-added">Added Action (ID: PlaySoundAction)</div><div class="change-item change-added">Added Action (ID: SetBoolAction)</div><div class="change-item change-removed">Removed Action (ID: PlaySoundAction)</div><div class="change-item change-subtree change-removed">🌲 SubTree 'CheckCargoSingleDump' was removed</div><div class="change-item change-subtree change-added">🌲 SubTree 'CheckCargoSingleDump' was added</div></div>
<div class="tree-container">
<div class="tree-panel">
<div class="tree-title">🔴 Before (DISPATCH)</div>
<div class="tree-svg-container">
<svg id="sourceTree0" class="tree-svg"></svg>
</div>
</div>
<div class="tree-panel">
<div class="tree-title">🟢 After (DISPATCH)</div>
<div class="tree-svg-container">
<svg id="targetTree0" class="tree-svg"></svg>
</div>
</div>
</div>
</div>
<div class="file-section">
<div class="file-header">
<h3 class="file-path">gaemi_behavior_tree/behavior_trees/gaemi_1/sub_tree/Drive.xml <span class="change-badge badge-modified">MODIFIED</span></h3>
</div>
<div class="changes-summary"><div class="change-item change-removed">Removed Action (ID: CheckArrivalTriggerAction)</div><div class="change-item change-added">Added Action (ID: CheckArrivalTriggerAction)</div><div class="change-item change-removed">Removed Action (ID: PrintLogAction)</div><div class="change-item change-added">Added Action (ID: PrintLogAction)</div></div>
<div class="tree-container">
<div class="tree-panel">
<div class="tree-title">🔴 Before (Drive)</div>
<div class="tree-svg-container">
<svg id="sourceTree1" class="tree-svg"></svg>
</div>
</div>
<div class="tree-panel">
<div class="tree-title">🟢 After (Drive)</div>
<div class="tree-svg-container">
<svg id="targetTree1" class="tree-svg"></svg>
</div>
</div>
</div>
</div>
<div id="tooltip" class="tooltip"></div>
<script>
const tooltip = d3.select("#tooltip");
function renderTree(data, svgId, title) {
const svg = d3.select(`#${svgId}`);
svg.selectAll("*").remove();
if (!data) {
svg.append("text")
.attr("x", 200)
.attr("y", 200)
.attr("text-anchor", "middle")
.style("fill", "#999")
.text("No tree data available");
return;
}
const width = 500;
const height = 450;
const margin = {top: 30, right: 30, bottom: 30, left: 30};
// Add zoom behavior
const zoom = d3.zoom()
.scaleExtent([0.5, 3])
.on("zoom", function(event) {
g.attr("transform", event.transform);
});
svg.call(zoom);
const g = svg.append("g");
const tree = d3.tree()
.size([height - margin.top - margin.bottom, width - margin.left - margin.right]);
const root = d3.hierarchy(data);
tree(root);
// Add links with enhanced styling
const link = g.selectAll(".link")
.data(root.descendants().slice(1))
.enter().append("path")
.attr("class", "link")
.attr("d", d => {
return `M${d.y + margin.left},${d.x + margin.top}C${(d.y + d.parent.y) / 2 + margin.left},${d.x + margin.top} ${(d.y + d.parent.y) / 2 + margin.left},${d.parent.x + margin.top} ${d.parent.y + margin.left},${d.parent.x + margin.top}`;
})
.style("stroke-width", d => {
// Thicker lines for paths with changes
return (d.data.changes && d.data.changes.length > 0) ? "3px" : "1.5px";
})
.style("stroke", d => {
// Color lines based on changes
if (d.data.changes && d.data.changes.length > 0) {
const changeType = d.data.changes[0];
switch(changeType) {
case 'added': return '#4CAF50';
case 'removed': return '#f44336';
case 'modified': return '#ffc107';
case 'moved': return '#2196F3';
default: return '#ccc';
}
}
return '#ccc';
});
// Add nodes with enhanced styling
const node = g.selectAll(".node")
.data(root.descendants())
.enter().append("g")
.attr("class", d => {
let classes = `node node-${d.data.type}`;
if (d.data.changes && d.data.changes.length > 0) {
classes += ` node-${d.data.changes[0]}`;
}
return classes;
})
.attr("transform", d => `translate(${d.y + margin.left},${d.x + margin.top})`)
.on("mouseover", function(event, d) {
let tooltipText = `<strong>${d.data.name}</strong><br/>Type: ${d.data.type}`;
if (d.data.id) tooltipText += `<br/>ID: ${d.data.id}`;
if (d.data.changes && d.data.changes.length > 0) {
tooltipText += `<br/><strong>Changes:</strong> ${d.data.changes.join(', ')}`;
}
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"BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Retrying: NodeLifecycleControlAction, activate: true"}, "changes": [], "children": []}]}]}]}, {"name": "Condition", "id": "CheckNodesStatus", "type": "condition", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Sequence[0]/Condition[@ID='CheckNodesStatus']", "attributes": {"ID": "CheckNodesStatus", "target_status_string": "active", "feedback_frequency_time": "3"}, "changes": [], "children": []}]}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PlaySoundAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Action[@ID='PlaySoundAction']", "attributes": {"ID": "PlaySoundAction", "sound_file_key": "start_task", "priority": "SERVICE", "loop_count": "1"}, "changes": [], "children": []}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Failed to play sound: start_task"}, "changes": [], "children": []}]}, {"name": "Delay", "id": "Delay", "type": "decorator", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Delay[0]", "attributes": {"delay_msec": "1500"}, "changes": [], "children": [{"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Delay[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "BlackboardCheckString", "id": "BlackboardCheckString", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Delay[0]/Fallback[0]/BlackboardCheckString[0]", "attributes": {"return_on_mismatch": "FAILURE", "value_A": "{cargo_type}", "value_B": "SINGLE_AUTO"}, "changes": [], "children": [{"name": "Action", "id": "SetBoolAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Delay[0]/Fallback[0]/BlackboardCheckString[0]/Action[@ID='SetBoolAction']", "attributes": {"ID": "SetBoolAction", "service_name": "hw/cargo_button/led_enable", "request": "false"}, "changes": [], "children": []}]}, {"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Delay[0]/Fallback[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}]}]}]}, {"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]", "attributes": {}, "changes": [], "children": [{"name": "IfThenElse", "id": "IfThenElse", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]", "attributes": {"name": "Undock from station"}, "changes": [], "children": [{"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Start setting distance threshold for checking need undocking"}, "changes": [], "children": []}, {"name": "Action", "id": "GetParameterAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='GetParameterAction']", "attributes": {"ID": "GetParameterAction", "node_name": "/gaemi_navigation_controller_server", "parameter_names": "OutdoorController.autonomous.tracking.docking.limit.front.default_undocking_distance", "parameters": "{distance_from_station_threshold}"}, "changes": [], "children": []}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Start checking need undocking"}, "changes": [], "children": []}, {"name": "Action", "id": "SetBoolAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='SetBoolAction']", "attributes": {"ID": "SetBoolAction", "service_name": "autonomous/sequence/toggle/tote_docking_param", "request": "true"}, "changes": [], "children": []}, {"name": "RetryUntilSuccessful", "id": "RetryUntilSuccessful", "type": "decorator", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]", "attributes": {"num_attempts": "-1"}, "changes": [], "children": [{"name": "IfThenElse", "id": "IfThenElse", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "ChangeDriveMode", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/Action[@ID='ChangeDriveMode']", "attributes": {"ID": "ChangeDriveMode", "mode": "autonomous"}, "changes": [], "children": []}, {"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}, {"name": "ForceFailure", "id": "ForceFailure", "type": "decorator", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Retrying: ChangeDriveMode, mode: autonomous"}, "changes": [], "children": []}]}]}]}, {"name": "Condition", "id": "CheckNeedUndocking", "type": "condition", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Condition[@ID='CheckNeedUndocking']", "attributes": {"ID": "CheckNeedUndocking", "parameters": "{distance_from_station_threshold}"}, "changes": [], "children": []}]}, {"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]", "attributes": {"name": "undocking start"}, "changes": [], "children": [{"name": "SubTree", "id": "Undocking", "type": "subtree", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/SubTree[@ID='Undocking']", "attributes": {"ID": "Undocking", "__shared_blackboard": "true"}, "changes": [], "children": []}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "BlackboardCheckString", "id": "BlackboardCheckString", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Fallback[0]/BlackboardCheckString[0]", "attributes": {"return_on_mismatch": "FAILURE", "value_A": "{cargo_type}", "value_B": "SINGLE_DUMP"}, "changes": [], "children": [{"name": "SubTree", "id": "CheckCargoSingleDump", "type": "subtree", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Fallback[0]/BlackboardCheckString[0]/SubTree[@ID='CheckCargoSingleDump']", "attributes": {"ID": "CheckCargoSingleDump", "__shared_blackboard": "true"}, "changes": [], "children": []}]}, {"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Fallback[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}]}]}, {"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "SetBoolAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='SetBoolAction']", "attributes": {"ID": "SetBoolAction", "service_name": "autonomous/sequence/toggle/tote_docking_param", "request": "false"}, "changes": [], "children": []}, {"name": "Action", "id": "SetBoolAction", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/Action[@ID='SetBoolAction']", "attributes": {"ID": "SetBoolAction", "service_name": "autonomous/sequence/toggle/lidar_docking", "request": "false"}, "changes": [], "children": []}, {"name": "BlackboardCheckString", "id": "BlackboardCheckString", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/BlackboardCheckString[0]", "attributes": {"return_on_mismatch": "SUCCESS", "value_A": "{cargo_type}", "value_B": "SINGLE_DUMP"}, "changes": [], "children": [{"name": "SubTree", "id": "CheckCargoSingleDump", "type": "subtree", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/IfThenElse[0]/Sequence[0]/BlackboardCheckString[0]/SubTree[@ID='CheckCargoSingleDump']", "attributes": {"ID": "CheckCargoSingleDump", "__shared_blackboard": "true"}, "changes": [], "children": []}]}]}]}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "BlackboardCheckString", "id": "BlackboardCheckString", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/BlackboardCheckString[0]", "attributes": {"return_on_mismatch": "FAILURE", "value_A": "{cargo_loading_mode}", "value_B": "unknown"}, "changes": [], "children": [{"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/BlackboardCheckString[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}]}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "BlackboardCheckString", "id": "BlackboardCheckString", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Fallback[0]/BlackboardCheckString[0]", "attributes": {"return_on_mismatch": "FAILURE", "value_A": "{cargo_type}", "value_B": "SINGLE_DUMP"}, "changes": [], "children": [{"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Fallback[0]/BlackboardCheckString[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}]}, {"name": "SubTree", "id": "Loading", "type": "subtree", "path": "BehaviorTree/Decorator[@ID='ReportFailure']/Sequence[0]/Control[@ID='ManualSequenceControlNode']/Sequence[0]/Fallback[0]/Fallback[0]/SubTree[@ID='Loading']", "attributes": {"ID": "Loading", "__shared_blackboard": "true"}, "changes": [], "children": []}]}]}]}]}]}]}]}, 'targetTree0', 'feature-check-undocking-needed');
renderTree({"name": "BehaviorTree", "id": "Drive", "type": "action", "path": "BehaviorTree", "attributes": {"ID": "Drive"}, "changes": [], "children": [{"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Sequence[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Sending route in Drive"}, "changes": [], "children": []}, {"name": "RetryUntilSuccessful", "id": "RetryUntilSuccessful", "type": "decorator", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]", "attributes": {"num_attempts": "-1"}, "changes": [], "children": [{"name": "IfThenElse", "id": "IfThenElse", "type": "control", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "IntegratedSendRoutesAction", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/Action[@ID='IntegratedSendRoutesAction']", "attributes": {"ID": "IntegratedSendRoutesAction", "task_instruction": "{main_task_instruction}"}, "changes": [], "children": []}, {"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}, {"name": "ForceFailure", "id": "ForceFailure", "type": "decorator", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Retrying: IntegratedSendRoutesAction in Drive"}, "changes": [], "children": []}]}]}]}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "paly sound in Drive"}, "changes": [], "children": []}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Sequence[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PlaySoundAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Fallback[0]/Action[@ID='PlaySoundAction']", "attributes": {"ID": "PlaySoundAction", "sound_file_key": "start_task", "priority": "SERVICE", "loop_count": "1"}, "changes": [], "children": []}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Fallback[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Failed to play sound: start_task in Drive"}, "changes": [], "children": []}]}, {"name": "Action", "id": "ChangeDriveMode", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='ChangeDriveMode']", "attributes": {"ID": "ChangeDriveMode", "mode": "autonomous"}, "changes": [], "children": []}, {"name": "Action", "id": "CheckArrivalTriggerAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='CheckArrivalTriggerAction']", "attributes": {"ID": "CheckArrivalTriggerAction", "arrival_trigger": "{arrival_trigger}", "dynamic_docking_trigger": "{dynamic_docking_trigger}", "need_docking": "{need_docking}"}, "changes": [], "children": []}]}]}, 'sourceTree1', 'develop');
renderTree({"name": "BehaviorTree", "id": "Drive", "type": "action", "path": "BehaviorTree", "attributes": {"ID": "Drive"}, "changes": [], "children": [{"name": "Sequence", "id": "Sequence", "type": "control", "path": "BehaviorTree/Sequence[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Sending route in Drive"}, "changes": [], "children": []}, {"name": "RetryUntilSuccessful", "id": "RetryUntilSuccessful", "type": "decorator", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]", "attributes": {"num_attempts": "-1"}, "changes": [], "children": [{"name": "IfThenElse", "id": "IfThenElse", "type": "control", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "IntegratedSendRoutesAction", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/Action[@ID='IntegratedSendRoutesAction']", "attributes": {"ID": "IntegratedSendRoutesAction", "task_instruction": "{main_task_instruction}"}, "changes": [], "children": []}, {"name": "AlwaysSuccess", "id": "AlwaysSuccess", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/AlwaysSuccess[0]", "attributes": {}, "changes": [], "children": []}, {"name": "ForceFailure", "id": "ForceFailure", "type": "decorator", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/RetryUntilSuccessful[0]/IfThenElse[0]/ForceFailure[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Retrying: IntegratedSendRoutesAction in Drive"}, "changes": [], "children": []}]}]}]}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "paly sound in Drive"}, "changes": [], "children": []}, {"name": "Fallback", "id": "Fallback", "type": "control", "path": "BehaviorTree/Sequence[0]/Fallback[0]", "attributes": {}, "changes": [], "children": [{"name": "Action", "id": "PlaySoundAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Fallback[0]/Action[@ID='PlaySoundAction']", "attributes": {"ID": "PlaySoundAction", "sound_file_key": "start_task", "priority": "SERVICE", "loop_count": "1"}, "changes": [], "children": []}, {"name": "Action", "id": "PrintLogAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Fallback[0]/Action[@ID='PrintLogAction']", "attributes": {"ID": "PrintLogAction", "log": "Failed to play sound: start_task in Drive"}, "changes": [], "children": []}]}, {"name": "Action", "id": "ChangeDriveMode", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='ChangeDriveMode']", "attributes": {"ID": "ChangeDriveMode", "mode": "autonomous"}, "changes": [], "children": []}, {"name": "Action", "id": "CheckArrivalTriggerAction", "type": "action", "path": "BehaviorTree/Sequence[0]/Action[@ID='CheckArrivalTriggerAction']", "attributes": {"ID": "CheckArrivalTriggerAction", "arrival_trigger": "{arrival_trigger}", "dynamic_docking_trigger": "{dynamic_docking_trigger}", "need_docking": "{need_docking}"}, "changes": [], "children": []}]}]}, 'targetTree1', 'feature-check-undocking-needed');
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