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RoboWaiter
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FIX: 增加sub_task_seq为空的错误处理，由异常更改为警告⚠（问题并没有完全解决）

This commit is contained in:
wuziji 2023-11-14 17:31:13 +08:00
parent 5ad86fe560
commit 0a3e3a8f3c
2 changed files with 6 additions and 2 deletions
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2
robowaiter/behavior_lib/cond/HasSubTask.py
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@ -8,7 +8,7 @@ class HasSubTask(Cond):
def _update(self) -> ptree.common.Status: def _update(self) -> ptree.common.Status:
# if self.scene.status? # if self.scene.status?
if self.scene.sub_task_seq.children == []: if not self.scene.sub_task_seq or not self.scene.sub_task_seq.children:
return ptree.common.Status.FAILURE return ptree.common.Status.FAILURE
else: else:
return ptree.common.Status.SUCCESS return ptree.common.Status.SUCCESS

6
robowaiter/robot/robot.py
View File

@ -70,7 +70,11 @@ class Robot(object):
del_sub_tree.set_scene(self.scene) del_sub_tree.set_scene(self.scene)
seq.add_child(del_sub_tree) seq.add_child(del_sub_tree)
self.scene.sub_task_seq.add_child(seq) if self.scene.sub_task_seq:
self.scene.sub_task_seq.add_child(seq)
else:
print('Warning: have none sub task sequence')
self.scene.sub_task_seq = seq
print("当前行为树为：") print("当前行为树为：")
print_tree_from_root(self.bt.root) print_tree_from_root(self.bt.root)