bonsai-bt 0.12.0

Behavior tree
Documentation 
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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<title>bonsai-bt visualizer</title>
<script src="https://d3js.org/d3.v7.min.js"></script>
<style>
:root {
  --bg:        #1a1a1a;
  --bg-panel:  #14141a;
  --fg:        #ddd;
  --fg-dim:    #888;
  --edge:      #555;
  --node-fill: #2a2a2a;
  --node-stroke:#888;

  --status-running: #d4a017;
  --status-running-stroke: #f1c40f;
  --status-success: #28a745;
  --status-success-stroke: #5cd271;
  --status-failure: #c0392b;
  --status-failure-stroke: #e74c3c;
}

* { box-sizing: border-box; }
html, body { margin: 0; height: 100%; background: var(--bg); color: var(--fg); }
body { font-family: ui-monospace, SFMono-Regular, Menlo, monospace; }

#status-bar {
  position: fixed; top: 0; left: 0; right: 0; z-index: 10;
  padding: 8px 14px;
  background: var(--bg-panel);
  border-bottom: 1px solid #2a2a2a;
  display: flex; gap: 24px; font-size: 12px;
}
#status-bar #conn-status { font-weight: 600; }

#tree-svg {
  width: 100vw; height: 100vh; display: block;
  padding-top: 36px;
}

.edge {
  fill: none; stroke: var(--edge); stroke-width: 1.5;
  transition: stroke 80ms ease-out, stroke-width 80ms ease-out;
}
.node circle {
  fill: var(--node-fill); stroke: var(--node-stroke); stroke-width: 1.5;
  transition: fill 80ms ease-out, stroke 80ms ease-out;
}
.node text {
  fill: var(--fg); font-size: 11px; pointer-events: none;
  user-select: none;
}

/* Node highlight states */
.node.status-running circle { fill: var(--status-running); stroke: var(--status-running-stroke); }
.node.status-success circle { fill: var(--status-success); stroke: var(--status-success-stroke); }
.node.status-failure circle { fill: var(--status-failure); stroke: var(--status-failure-stroke); }

/* Edge highlight states */
.edge.status-running { stroke: var(--status-running); stroke-width: 2.5; }
.edge.status-success { stroke: var(--status-success); stroke-width: 2.5; }
.edge.status-failure { stroke: var(--status-failure); stroke-width: 2.5; }

.node-type-Action circle { stroke-dasharray: none; }
.node-type-Wait   circle { stroke-dasharray: 2 2; }

#legend {
  position: fixed; top: 44px; right: 14px; z-index: 10;
  background: var(--bg-panel);
  border: 1px solid #2a2a2a;
  border-radius: 4px;
  padding: 8px 12px;
  font-size: 11px;
  display: flex; flex-direction: column; gap: 6px;
  pointer-events: none;
}
#legend .legend-title {
  color: var(--fg-dim);
  text-transform: uppercase;
  letter-spacing: 0.5px;
  font-size: 10px;
  margin-bottom: 2px;
}
#legend .legend-row {
  display: flex; align-items: center; gap: 8px;
}
#legend .legend-swatch {
  width: 12px; height: 12px;
  border-radius: 50%;
  border: 1.5px solid;
  flex-shrink: 0;
}
#legend .legend-swatch.status-running { background: var(--status-running); border-color: var(--status-running-stroke); }
#legend .legend-swatch.status-success { background: var(--status-success); border-color: var(--status-success-stroke); }
#legend .legend-swatch.status-failure { background: var(--status-failure); border-color: var(--status-failure-stroke); }
#legend .legend-swatch.status-idle    { background: var(--node-fill);      border-color: var(--node-stroke); }
</style>
</head>
<body>
<div id="status-bar">
  <span id="conn-status">connecting…</span>
  <span id="tick-counter">tick: —</span>
  <span id="tree-meta"></span>
</div>
<div id="legend">
  <div class="legend-title">legend</div>
  <div class="legend-row"><span class="legend-swatch status-running"></span>Running</div>
  <div class="legend-row"><span class="legend-swatch status-success"></span>Success</div>
  <div class="legend-row"><span class="legend-swatch status-failure"></span>Failure</div>
  <div class="legend-row"><span class="legend-swatch status-idle"></span>Idle / not visited</div>
</div>
<svg id="tree-svg" preserveAspectRatio="xMinYMin meet"></svg>
<script>
(function () {
  'use strict';

  const RECONNECT_INITIAL_MS = 500;
  const RECONNECT_MAX_MS     = 8000;

  const connStatusEl   = document.getElementById('conn-status');
  const tickCounterEl  = document.getElementById('tick-counter');
  const treeMetaEl     = document.getElementById('tree-meta');

  let receivedTreeDef  = false;
  let idToElement      = new Map();
  let idToEdgeElement  = new Map(); // Tracks edge paths by child node ID
  let prevTickStateIds = new Set();
  let reconnectDelayMs = RECONNECT_INITIAL_MS;

  const NODE_RADIUS = 8;
  const NODE_DX     = 30;
  const NODE_DY     = 220;
  const LABEL_MAX   = 30;

  const STATUS_CLASSES = ['status-running', 'status-success', 'status-failure'];

  function connect() {
    connStatusEl.textContent = 'connecting…';
    const ws = new WebSocket(`ws://${location.host}/`);

    ws.onopen = () => {
      connStatusEl.textContent = 'connected';
      reconnectDelayMs = RECONNECT_INITIAL_MS;
    };

    ws.onmessage = (ev) => {
      let msg;
      try {
        msg = JSON.parse(ev.data);
      } catch (e) {
        console.warn('bonsai-viz: malformed JSON frame, dropping', e);
        return;
      }
      if (!receivedTreeDef) {
        renderTree(msg);
        receivedTreeDef = true;
      } else {
        applyTick(msg);
      }
    };

    ws.onerror = () => { /* let onclose handle the retry */ };

    ws.onclose = () => {
      connStatusEl.textContent = `disconnected — retrying in ${reconnectDelayMs}ms`;
      receivedTreeDef = false;
      idToElement.clear();
      idToEdgeElement.clear(); // Reset edge map
      prevTickStateIds.clear();
      d3.select('#tree-svg').selectAll('*').remove();
      tickCounterEl.textContent = 'tick: —';
      treeMetaEl.textContent = '';

      setTimeout(connect, reconnectDelayMs);
      reconnectDelayMs = Math.min(reconnectDelayMs * 2, RECONNECT_MAX_MS);
    };
  }

  function renderTree(treeDef) {
    if (!treeDef || !treeDef.root) {
      console.warn('bonsai-viz: tree definition missing root', treeDef);
      return;
    }

    const hierarchy = d3.hierarchy(treeDef.root, d => d.children);
    d3.tree().nodeSize([NODE_DX, NODE_DY])(hierarchy);

    let xMin = Infinity, xMax = -Infinity, yMax = 0;
    for (const d of hierarchy.descendants()) {
      if (d.x < xMin) xMin = d.x;
      if (d.x > xMax) xMax = d.x;
      if (d.y > yMax) yMax = d.y;
    }
    const pad = NODE_DY;
    const svg = d3.select('#tree-svg')
      .attr('viewBox', [-pad, xMin - pad, yMax + 2 * pad, xMax - xMin + 2 * pad].join(' '));

    const g = svg.append('g');

    // Clear edge map before rendering
    idToEdgeElement.clear();

    const edges = g.selectAll('path.edge')
      .data(hierarchy.links())
      .join('path')
      .attr('class', 'edge')
      .attr('d', d3.linkHorizontal().x(d => d.y).y(d => d.x));

    // Map each edge to its target child ID
    edges.each(function (d) {
      idToEdgeElement.set(d.target.data.id, this);
    });

    const nodes = g.selectAll('g.node')
      .data(hierarchy.descendants())
      .join('g')
      .attr('class', d => `node node-type-${d.data.node_type}`)
      .attr('data-node-id', d => d.data.id)
      .attr('transform', d => `translate(${d.y},${d.x})`);

    nodes.append('circle').attr('r', NODE_RADIUS);
    nodes.append('text')
      .attr('x', NODE_RADIUS + 6)
      .attr('dy', '0.32em')
      .text(d => truncate(d.data.label, LABEL_MAX));
    nodes.append('title').text(d => `${d.data.node_type}: ${d.data.label}`);

    idToElement.clear();
    nodes.each(function (d) { idToElement.set(d.data.id, this); });

    treeMetaEl.textContent = `${idToElement.size} nodes`;
  }

  function truncate(s, n) {
    return (s && s.length > n) ? s.slice(0, n - 1) + '…' : (s || '');
  }

  function applyTick(trace) {
    if (!trace || typeof trace.tick_id !== 'number') {
      console.warn('bonsai-viz: malformed TickTrace', trace);
      return;
    }
    tickCounterEl.textContent = `tick: ${trace.tick_id}`;

    // Clear previous classes from both nodes and edges
    for (const id of prevTickStateIds) {
      const nodeEl = idToElement.get(id);
      if (nodeEl) nodeEl.classList.remove(...STATUS_CLASSES);

      const edgeEl = idToEdgeElement.get(id);
      if (edgeEl) edgeEl.classList.remove(...STATUS_CLASSES);
    }
    prevTickStateIds.clear();

    // Apply new classes to both nodes and edges
    const states = trace.states || {};
    for (const key in states) {
      if (!Object.prototype.hasOwnProperty.call(states, key)) continue;
      const id = Number(key);

      const nodeEl = idToElement.get(id);
      if (!nodeEl) continue;

      const status = states[key];
      if (status === 'running' || status === 'success' || status === 'failure') {
        nodeEl.classList.add(`status-${status}`);

        const edgeEl = idToEdgeElement.get(id);
        if (edgeEl) edgeEl.classList.add(`status-${status}`);

        prevTickStateIds.add(id);
      }
    }
  }

  connect();
})();
</script>
</body>
</html>