太暗的异常检测

robowaiter/behavior_lib/_base/Behavior.py

@@ -6,6 +6,7 @@ from py_trees.common import Status
 
 # _base Behavior
 class Bahavior(ptree.behaviour.Behaviour):
+
     can_be_expanded = False
     num_params = 0
     valid_params='''

robowaiter/behavior_lib/act/ResolveAnomaly.py

@@ -0,0 +1,14 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+
+class ResolveAnomaly(Act):
+
+    def __init__(self, *args):
+        super().__init__(*args)
+
+    def _update(self) -> ptree.common.Status:
+        # explore algorithm
+        self.scene.state["chat_list"].insert(0,("Goal",'Is(HallLight,On)'))
+
+        return ptree.common.Status.RUNNING

robowaiter/behavior_lib/cond/AnomalyDetected.py

@@ -0,0 +1,23 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Cond import Cond
+
+class AnomalyDetected(Cond):
+
+
+    def __init__(self):
+        super().__init__()
+
+
+    def _update(self) -> ptree.common.Status:
+        # if self.scene.status?
+
+        light_set = {'Is(HallLight,Off)', 'Is(TubeLight,Off)', 'Is(Curtain,Off)'}
+        if light_set.issubset(self.scene.state["condition_set"]):
+            self.scene.chat_bubble("太暗了，开灯")
+            self.scene.state["anomaly"] = "TooDark"
+            return ptree.common.Status.SUCCESS
+
+
+
+        return  ptree.common.Status.FAILURE

robowaiter/scene/scene.py

@@ -76,7 +76,8 @@ class Scene:
         "attention":{},
         "serve_state":{},
         "chat_history":{},
-        "wait_history":set()
+        "wait_history":set(),
+        "anomaly": None
     }
     """
     status: