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RoboWaiter
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增加画行为树的代码

This commit is contained in:
ChenXL97 2023-11-19 16:35:37 +08:00
parent d44b0389b8
commit 576e312fec
15 changed files with 334 additions and 15 deletions
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3
robowaiter/algos/navigator/__init__.py
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@ -1,3 +0,0 @@
from . import navigate
from . import dstar_lite

2
robowaiter/algos/navigator/navigate.py
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@ -7,7 +7,6 @@ import pickle
import matplotlib.pyplot as plt
import numpy as np
from robowaiter.scene import scene
from robowaiter.algos.navigator.dstar_lite import DStarLite, euclidean_distance
@ -94,6 +93,7 @@ class Navigator:
if __name__ == '__main__':
# 根据map计算并保存cost_map
from robowaiter.scene import scene
file_name = 'map_4.pkl'
if os.path.exists(file_name):

7
robowaiter/behavior_lib/_base/Behavior.py
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@ -81,9 +81,10 @@ class Bahavior(ptree.behaviour.Behaviour):
# let behavior node interact with the scene
def set_scene(self, scene):
self.scene = scene
self.robot = scene.robot
def set_scene(self, scene=None):
if scene:
self.scene = scene
self.robot = scene.robot
def setup(self, **kwargs: Any) -> None:
return super().setup(**kwargs)

1
robowaiter/behavior_lib/_base/Selector.py
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@ -3,6 +3,7 @@ from typing import Any
class Selector(ptree.composites.Selector):
print_name = "Selector"
ins_name = "Selector"
type = "Selector"
def __init__(self,*args,**kwargs):

1
robowaiter/behavior_lib/_base/Sequence.py
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@ -3,6 +3,7 @@ from typing import Any
class Sequence(ptree.composites.Sequence):
print_name = "Sequence"
ins_name = "Selector"
type = "Sequence"
def __init__(self,*args,**kwargs):

9
robowaiter/behavior_tree/ptml/ptmlCompiler.py
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@ -107,9 +107,12 @@ def format_trans_to_bracket(file_path: str) -> str:
for i in range(level):
ptml_new += '}'
import re
new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path)
with open(new_path, 'w+') as file:
file_name = os.path.basename(file_path).split(".")[0]
dir_path = os.path.dirname(file_path)
# import re
# new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path)
new_path = os.path.join(dir_path,file_name+"_bracket.ptml")
with open(new_path, 'w') as file:
file.write(ptml_new)
return new_path

2
robowaiter/robot/robot.py
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@ -35,7 +35,7 @@ class Robot(object):
self.action_list = None
def set_scene(self,scene):
def set_scene(self,scene=None):
self.scene = scene

8
robowaiter/utils/bt/draw.py
View File

@ -111,10 +111,10 @@ def dot_tree(
if with_qualified_names:
node_label += f"\n({utilities.get_fully_qualified_name(behaviour)})"
'''
if node_name == "Sequence":
node_name = ">"
if node_name == "Selector":
node_name = "?"
# if node_name == "Sequence":
# node_name = ">"
# if node_name == "Selector":
# node_name = "?"
return node_name
fontsize = 20

17
robowaiter/utils/draw_bt/Default.ptml Normal file
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@ -0,0 +1,17 @@
selector
sequence
cond CustomerChatting()
act DealChat()
sequence
cond HasSubTask()
sequence
act SubTaskPlaceHolder()
sequence
cond FocusingCustomer()
act ServeCustomer()
sequence
cond NewCustomerComing()
selector
cond At(Robot,Bar)
act MoveTo(Bar)
act GreetCustomer()

28
robowaiter/utils/draw_bt/Default_bracket.ptml Normal file
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@ -0,0 +1,28 @@
selector
{
sequence
{
cond CustomerChatting()
act DealChat()
} sequence
{
cond HasSubTask()
sequence
{
act SubTaskPlaceHolder()
} sequence
cond FocusingCustomer()
act ServeCustomer()
} sequence
{
cond NewCustomerComing()
selector
{
cond At(Robot,Bar)
act MoveTo(Bar)
} act GreetCustomer()
}}

0
robowaiter/utils/draw_bt/__init__.py Normal file
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21
robowaiter/utils/draw_bt/draw_bt.py Normal file
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@ -0,0 +1,21 @@
# from robowaiter.scene.scene import Scene
# from robowaiter.behavior_tree.ptml.ptmlCompiler import load
import os
from robowaiter.robot.robot import Robot
from robowaiter.utils.bt.draw import render_dot_tree
from robowaiter.utils.basic import get_root_path
from robowaiter.utils.bt.load import load_bt_from_ptml
if __name__ == '__main__':
# create robot
root_path = get_root_path()
ptml_path = os.path.join(root_path, 'robowaiter/utils/draw_bt/Default.ptml')
behavior_lib_path = os.path.join(root_path, 'robowaiter/behavior_lib')
bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path)
render_dot_tree(bt.root,name="test")
# build and tick

39
robowaiter/utils/draw_bt/test.dot Normal file
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@ -0,0 +1,39 @@
digraph pastafarianism {
ordering=out;
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
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"ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e" -> "2428792c-3896-443d-8744-f5e286644fad";
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"64b2362a-d99e-4e99-8772-ad1419e53a2e" -> "169ebec9-3645-4fbb-a533-5186a8e5967b";
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"ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e" -> "bea12066-ecbd-49b0-8934-efcb2c38b5f5";
"a847a0cc-c5af-4757-aa8c-8baef72788dc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="NewCustomerComing()", shape=ellipse, style=filled];
"bea12066-ecbd-49b0-8934-efcb2c38b5f5" -> "a847a0cc-c5af-4757-aa8c-8baef72788dc";
"99354f05-1716-46b2-9151-d88eac0a5b27" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
"bea12066-ecbd-49b0-8934-efcb2c38b5f5" -> "99354f05-1716-46b2-9151-d88eac0a5b27";
"19de10a3-7554-43a3-b892-34cb2e32ab9a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"99354f05-1716-46b2-9151-d88eac0a5b27" -> "19de10a3-7554-43a3-b892-34cb2e32ab9a";
"4286d652-c4ef-4522-a7f1-b5c865dcc4c9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled];
"99354f05-1716-46b2-9151-d88eac0a5b27" -> "4286d652-c4ef-4522-a7f1-b5c865dcc4c9";
"a3766a34-5152-4f82-8fba-8bf1f6b3830b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="GreetCustomer()", shape=box, style=filled];
"bea12066-ecbd-49b0-8934-efcb2c38b5f5" -> "a3766a34-5152-4f82-8fba-8bf1f6b3830b";
}

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