23 lines
638 B
Python
23 lines
638 B
Python
|
import py_trees as ptree
|
||
|
|
from typing import Any
|
||
|
|
from robowaiter.behavior_lib._base.Act import Act
|
||
|
|
from robowaiter.behavior_lib._base.Behavior import Status
|
||
|
|
|
||
|
|
class MakeCoffee(Act):
|
||
|
|
|
||
|
|
def __init__(self, *args):
|
||
|
|
super().__init__(*args)
|
||
|
|
|
||
|
|
@property
|
||
|
|
def cond_sets(self):
|
||
|
|
pre = {"At(Robot,Bar)"}
|
||
|
|
add = {"At(Coffee,Bar)"}
|
||
|
|
de = {}
|
||
|
|
return pre,add,de
|
||
|
|
|
||
|
|
def _update(self) -> ptree.common.Status:
|
||
|
|
op_type = 1
|
||
|
|
self.scene.move_task_area(op_type)
|
||
|
|
self.scene.op_task_execute(op_type)
|
||
|
|
self.scene.state["condition_set"].add("At(Coffee,Bar)")
|
||
|
|
return Status.RUNNING
|