From 2d933bf7a42d4ce9726fa3406e3a95d587cb81c6 Mon Sep 17 00:00:00 2001
From: ChenXL97 <908926798@qq.com>
Date: Mon, 13 Nov 2023 15:05:21 +0800
Subject: [PATCH] =?UTF-8?q?=E7=8E=B0=E5=9C=A8=E6=97=A0=E5=8F=82=E6=95=B0?=
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---
 robowaiter/behavior_lib/_base/Behavior.py | 13 ++++++++++++-
 robowaiter/robot/robot.py                 | 13 +++++++++----
 2 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py
index 129be1d..84ed74b 100644
--- a/robowaiter/behavior_lib/_base/Behavior.py
+++ b/robowaiter/behavior_lib/_base/Behavior.py
@@ -14,6 +14,15 @@ class Bahavior(ptree.behaviour.Behaviour):
     scene = None
     print_name_prefix = ""
 
+    @classmethod
+    def get_ins_name(cls,*args):
+        name = cls.__name__
+        if len(args) > 0:
+            ins_name = f'{name}({",".join(list(args))})'
+        else:
+            ins_name = f'{name}()'
+        return ins_name
+
     def __init__(self,*args):
         name = self.__class__.__name__
         if len(args)>0:
@@ -34,7 +43,9 @@ class Bahavior(ptree.behaviour.Behaviour):
 
     @property
     def print_name(self):
-        return f'{self.print_name_prefix}{self.name}'
+        return f'{self.print_name_prefix}{self.get_ins_name(*self.args)}'
+
+
 
     # let behavior node interact with the scene
     def set_scene(self, scene):
diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py
index 8133fcb..6d7b275 100644
--- a/robowaiter/robot/robot.py
+++ b/robowaiter/robot/robot.py
@@ -45,7 +45,12 @@ class Robot(object):
     def expand_sub_task_tree(self,goal):
         if self.action_list is None:
             self.action_list = self.collect_action_nodes()
-            print(f"首次运行行为树扩展算法，收集到{len(self.action_list)}个有效动作")
+            print("\n--------------------")
+            print(f"首次运行行为树扩展算法，收集到{len(self.action_list)}个有效动作:")
+            for a in self.action_list:
+                print(a.name)
+            print("--------------------\n")
+
 
         algo = BTOptExpInterface(self.action_list)
 
@@ -76,13 +81,13 @@ class Robot(object):
         for cls in behavior_dict["act"].values():
             if cls.can_be_expanded:
                 if cls.num_args == 0:
-                    action_list.append(Action(name=cls.__name__,**cls.get_info()))
+                    action_list.append(Action(name=cls.get_ins_name(),**cls.get_info()))
                 if cls.num_args == 1:
                     for arg in cls.valid_args:
-                        action_list.append(Action(name=cls.__name__, **cls.get_info(arg)))
+                        action_list.append(Action(name=cls.get_ins_name(arg), **cls.get_info(arg)))
                 if cls.num_args > 1:
                     for args in cls.valid_args:
-                        action_list.append(Action(name=cls.__name__,**cls.get_info(*args)))
+                        action_list.append(Action(name=cls.get_ins_name(*args),**cls.get_info(*args)))
 
         print(action_list)
         # action_list = [