55 lines
1.7 KiB
Python
55 lines
1.7 KiB
Python
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import py_trees as ptree
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from typing import Any
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import enum
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class Status(enum.Enum):
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"""An enumerator representing the status of a behavior."""
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SUCCESS = ptree.common.Status.SUCCESS
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"""Behaviour check has passed, or execution of its action has finished with a successful result."""
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FAILURE = ptree.common.Status.FAILURE
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"""Behaviour check has failed, or execution of its action finished with a failed result."""
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RUNNING = ptree.common.Status.RUNNING
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"""Behaviour is in the middle of executing some action, result still pending."""
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INVALID = ptree.common.Status.INVALID
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"""Behaviour is uninitialised and/or in an inactive state, i.e. not currently being ticked."""
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# _base Behavior
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class Bahavior(ptree.behaviour.Behaviour):
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num_params = 0
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valid_params='''
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None
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'''
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scene = None
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def __init__(self,*args):
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name = self.__class__.__name__
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if len(args)>0:
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name = f'{name}({",".join(list(args))})'
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self.name = name
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self.args = args
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super().__init__(self.name)
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def _update(self) -> ptree.common.Status:
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print("this is just a _base behavior node.")
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return Status.INVALID
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# let behavior node interact with the scene
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def set_scene(self, scene):
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self.scene = scene
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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re = self._update()
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print(f"{self.__class__.__name__}: {re.value}")
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return re
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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