64 lines
2.1 KiB
Python
64 lines
2.1 KiB
Python
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import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.behavior_lib._base.Behavior import Status
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class Clean(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = [('AC','ACTemperature','TubeLight','HallLight','Curtain'),
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('Off','On','Up','Down','Clean','Dirty')]
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def __init__(self, *args):
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super().__init__(*args)
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self.target_obj = self.args[0]
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self.op = self.args[1]
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self.op_type = 13
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if self.target_obj=="AC":
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self.op_type = 13
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elif self.target_obj=="ACTemperature":
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if self.op == 'Up':
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self.op_type = 14
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elif self.op == 'Down':
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self.op_type = 15
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elif self.target_obj=="TubeLight":
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if self.op == 'On':
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self.op_type = 6
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elif self.op == 'Off':
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self.op_type = 8
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elif self.target_obj=="HallLight":
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if self.op == 'On':
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self.op_type = 9
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elif self.op == 'Off':
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self.op_type = 10
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elif self.target_obj=="Curtain":
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if self.op == 'On':
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self.op_type = 11
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elif self.op == 'Off':
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self.op_type = 12
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@classmethod
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def get_info(cls,arg):
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info = {}
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# 明天写
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# info["pre"]= {f'Holding(Nothing)'}
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# if arg == "Table1":
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# info["add"]= {f'Is(Table1,Clean)'}
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# info["del"] = {f'Is(Table1,Dirty)'}
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# elif arg == "Floor":
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# info["add"] = {f'Is(Floor,Clean)'}
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# info["del"] = {f'Is(Floor,Dirty)'}
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# elif arg == "Chairs":
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# info["add"] = {f'Is(Chairs,Clean)'}
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# info["del"] = {f'Is(Chairs,Dirty)'}
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return info
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def _update(self) -> ptree.common.Status:
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self.scene.move_task_area(self.op_type)
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self.scene.op_task_execute(self.op_type)
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self.scene.state["condition_set"].union(self.info["add"])
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self.scene.state["condition_set"] -= self.info["del"]
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return Status.RUNNING
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