15/09/2019 BT Trace Animation Ferdiansyah Dolot Ferdiansyah Dolot (ferdi_dolot@acm.org / ferdi.dolot@gmail.com ) Depok, April 7th 2011 FMSE (Formal Method in Software Engineering) Lab Faculty of Computer Science Universitas Indonesia

TextBE Overview [1] Developed by Toby Myers, Griffith University Eclipse Plugin Development based Provides Textual Representation for defining Behavior Engineering Model Integrated View of Behavior Tree (BT) as one view of Behavior Modeling Language has been implemented in TextBE [2] Converts the textual representation into graphical visualisation Save the graphical visualisation into several file formats ( .svg, .jpg, .pdf ) 15/09/2019 Ferdiansyah Dolot

Existing Condition Result of graphical visualisation is static Difficult to study about semantics Does not support any animating visualisation in Batik SVG Plugin Animated SVG file has been developed and can be viewed in certain web browser : works in Mozilla Firefox (Myers PhD Thesis) [3] With Animated SVG file, we can study about Behavior Tree Semantics 15/09/2019 Ferdiansyah Dolot

1. Animating BT Trace[4] The SVG file that can animate the BT diagram currently only works in certain browser (works in Mozilla Firefox) [2] BE Visualiser make use of Batik Java SVG Toolkit and the animated SVG example in previous slide currently doesn’t work in Batik Java SVG Toolkit BT Traces can be animated by adding ECMAScript language in SVG file generated by BE Visualiser (Batik SVG support ECMAScript) Perform Debugging using SVG Eclipse Plugin 15/09/2019 Ferdiansyah Dolot

2. BT Trace Notation[4] Create a file (.bttrace) to textually describe the BT Trace The file has a link to .bt file that will be animated by .bttrace Describe the order of nodes to be highlighted Sample language : nX – highlight node X (apply active colour and then set white colour) nX+ – set node X (apply active colour and then apply interleaved colour) nX- – clear node X (set white colour) { } – continuous loop of contained nodes 15/09/2019 #IMPORT /RBTs/R5.bt #OPTIONS.delay 500 #TRACE n1 n2 n3+ n4 n3- {n5 n6 n7} Ferdiansyah Dolot

3. Parsing outputs into BT Traces[4] There are possibly several outputs that can be parsed and converted into BT Trace Counter Example provided by SAL Model Checker and import the cex into BT Traces and animated in BE Visualiser Executing BTs natively in Modelica using OpenModelica (http://www.openmodelica.org) then parsed into BT Traces and animated in BE Visualiser. To do this, some of output example are needed. (Open Modellica has been installed in PC01-Riset3204 and can run Open Modelica Notebook) Future plan: Write ATL Transformation to generate Modelica code and Integrate it to TextBE Finish the 1st and 2nd works, then think about developing the third phase using the previous works. 15/09/2019 Ferdiansyah Dolot

Step 1 and Step 2 Diagram[4] 15/09/2019 Ferdiansyah Dolot

Package Modification Create org.be.textbe.bttrace.model Install EMFText SDK Develop EMFText Project Create bttrace.ecore Generate metamodel Create bttrace.cs Modify file BEView.java in package org.be.textbt.beviz Modify BEView.java in order to recognize .bttrace file Set no color first to view the animation Create org.be.textbe.bttrace.trace2svg Make Java Emitter Template (/templates/trace.jet) to generate the script to animating the SVG file from .bttrace file 15/09/2019 Ferdiansyah Dolot

References [1] Myers, Toby J. : TextBE : A Textual Editor for Behavior Engineering, 3rd Improving Systems and Software Engineering Conference , (2011) [2]http://code.google.com/p/textbe/ [3]http://www.behaviorengineering.org/publications/myers/CD/home.html [4]Myers, Toby J : Animating Behavior Tree Traces, (2011) 15/09/2019 Ferdiansyah Dolot