重构了项目代码，进行了项目打包
This commit is contained in:
ChenXL97
parent
38534d3b05
commit
86c6c39302
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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.Behavior import Bahavior
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class CoffeeCupFound(Bahavior):
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def __init__(self, name: str, scene):
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super().__init__(name, scene)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print("Start checking IsChatting...")
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,22 @@
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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.Behavior import Bahavior
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class CoffeeCupGrasped(Bahavior):
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def __init__(self, name: str, scene):
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super().__init__(name, scene)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class CoffeeCupPlaced(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class DestinationAReached(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class FindCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class Grasp(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class GraspCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class Istask(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class Move(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene, a, b, c, d):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class PlaceCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class ReachDestinationA(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class SeqTest(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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import py_trees as ptree
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from typing import Any
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class TestTask(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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# from robowaiter.behavior_tree.behavior_tree import BehaviorTree
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from robowaiter.behavior_tree.behavior_tree import load_bt_from_ptml
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import py_trees as ptree
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from robowaiter.behavior_tree.ptml import ptmlCompiler
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def load_bt_from_ptml(scene, ptml_path, behavior_lib_path):
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ptml_bt = ptmlCompiler.load(scene, ptml_path, behavior_lib_path)
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bt = ptree.trees.BehaviourTree(ptml_bt)
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with open(ptml_path, 'r') as f:
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ptml = f.read()
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print(f'BT loaded: \n {ptml}')
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# print(ptree.display.unicode_tree(root=bt.root, show_status=True))
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return bt
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# class BehaviorTree(ptree):
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# def __init__(self):
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# super().__init__()
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//sequence:
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// act action1()
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// act action2(2, 2.3, True)
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//
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// parallel 2:
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// act action3(int a, float b)
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// act action4()
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sequence{
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selector{
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cond CoffeeCupFound()
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task FindCoffeeCup()
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sequence{
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cond SeqTest()
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task Move(1.2, 2, 2.3, True)
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task Grasp()
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parallel 3 {
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cond Istask()
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task TestTask()
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}
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}
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}
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selector{
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cond CoffeeCupGrasped()
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task GraspCoffeeCup()
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}
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selector{
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cond DestinationAReached()
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task ReachDestinationA()
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}
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selector{
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cond CoffeeCupPlaced()
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task PlaceCoffeeCup()
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}
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}
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grammar ptml;
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root : tree+ EOF;
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tree : internal_node '{' (action_sign|tree)+ '}' ;
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internal_node : 'sequence' | 'selector' | 'parallel' Integer ;
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action_sign : ('task'|'cond') Names '(' action_parm? ')';
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action_parm : (Integer|Float|boolean) (',' (Integer|Float|boolean))* ;
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// var_decls : var_type Names ;
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// var_type : 'int' | 'float' | 'bool' | 'string' ;
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boolean : 'True' | 'False' ;
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Names : [a-zA-Z_][a-zA-Z_0-9]* ;
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Integer : '-'?[1-9][0-9]* | '0' ;
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Float : [0-9]+'.'[0-9]* | '.'[0-9]+ ;
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// comments
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LINE_COMMENT : '//' .*? '\r'?'\n' -> skip ;
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// useless
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WS : [ \t\u000C\r\n]+ -> skip ;
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token literal names:
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null
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'{'
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'}'
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'sequence'
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'selector'
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'parallel'
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'task'
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'cond'
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'('
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')'
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','
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'True'
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'False'
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null
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null
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null
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null
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null
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token symbolic names:
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null
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null
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null
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null
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null
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null
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null
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null
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null
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null
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null
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null
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null
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Names
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Integer
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Float
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LINE_COMMENT
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WS
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rule names:
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root
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tree
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internal_node
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action_sign
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action_parm
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boolean
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atn:
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[4, 1, 17, 62, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 24, 8, 1, 11, 1, 12, 1, 25, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 34, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 40, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 47, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 53, 8, 4, 5, 4, 55, 8, 4, 10, 4, 12, 4, 58, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 66, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 33, 1, 0, 0, 0, 6, 35, 1, 0, 0, 0, 8, 46, 1, 0, 0, 0, 10, 59, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 23, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 25, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 27, 1, 0, 0, 0, 27, 28, 5, 2, 0, 0, 28, 3, 1, 0, 0, 0, 29, 34, 5, 3, 0, 0, 30, 34, 5, 4, 0, 0, 31, 32, 5, 5, 0, 0, 32, 34, 5, 14, 0, 0, 33, 29, 1, 0, 0, 0, 33, 30, 1, 0, 0, 0, 33, 31, 1, 0, 0, 0, 34, 5, 1, 0, 0, 0, 35, 36, 7, 0, 0, 0, 36, 37, 5, 13, 0, 0, 37, 39, 5, 8, 0, 0, 38, 40, 3, 8, 4, 0, 39, 38, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 5, 9, 0, 0, 42, 7, 1, 0, 0, 0, 43, 47, 5, 14, 0, 0, 44, 47, 5, 15, 0, 0, 45, 47, 3, 10, 5, 0, 46, 43, 1, 0, 0, 0, 46, 44, 1, 0, 0, 0, 46, 45, 1, 0, 0, 0, 47, 56, 1, 0, 0, 0, 48, 52, 5, 10, 0, 0, 49, 53, 5, 14, 0, 0, 50, 53, 5, 15, 0, 0, 51, 53, 3, 10, 5, 0, 52, 49, 1, 0, 0, 0, 52, 50, 1, 0, 0, 0, 52, 51, 1, 0, 0, 0, 53, 55, 1, 0, 0, 0, 54, 48, 1, 0, 0, 0, 55, 58, 1, 0, 0, 0, 56, 54, 1, 0, 0, 0, 56, 57, 1, 0, 0, 0, 57, 9, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 59, 60, 7, 1, 0, 0, 60, 11, 1, 0, 0, 0, 8, 15, 23, 25, 33, 39, 46, 52, 56]
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T__0=1
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T__1=2
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T__2=3
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T__3=4
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T__4=5
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T__5=6
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T__6=7
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T__7=8
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T__8=9
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T__9=10
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T__10=11
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T__11=12
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Names=13
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Integer=14
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Float=15
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LINE_COMMENT=16
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WS=17
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'{'=1
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'}'=2
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'sequence'=3
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'selector'=4
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'parallel'=5
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'task'=6
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'cond'=7
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'('=8
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')'=9
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','=10
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'True'=11
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'False'=12
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import os
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from antlr4 import *
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if "." in __name__:
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from .ptmlTranslator import ptmlTranslator
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from .ptmlParser import ptmlParser as Parser
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from .ptmlLexer import ptmlLexer as Lexer
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else:
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from ptmlTranslator import ptmlTranslator
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from ptmlParser import ptmlParser as Parser
|
||||
from ptmlLexer import ptmlLexer as Lexer
|
||||
|
||||
|
||||
def load(scene, ptml_path: str, behaviour_lib_path: str):
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
ptml_path (str): _description_
|
||||
behaviour_lib_path (str): _description_
|
||||
|
||||
Raises:
|
||||
FileNotFoundError: _description_
|
||||
FileNotFoundError: _description_
|
||||
"""
|
||||
# error handle
|
||||
if not os.path.exists(ptml_path):
|
||||
raise FileNotFoundError("Given a fault ptml path: {}".format(ptml_path))
|
||||
if not os.path.exists(behaviour_lib_path):
|
||||
raise FileNotFoundError(
|
||||
"Given a fault behaviour library path: {}".format(behaviour_lib_path)
|
||||
)
|
||||
|
||||
# noting fault, go next
|
||||
input_stream = FileStream(ptml_path, encoding="utf-8")
|
||||
|
||||
lexer = Lexer(input_stream)
|
||||
stream = CommonTokenStream(lexer)
|
||||
parser = Parser(stream)
|
||||
tree = parser.root()
|
||||
|
||||
walker = ParseTreeWalker()
|
||||
ptml = ptmlTranslator(scene, behaviour_lib_path) # listener mode
|
||||
walker.walk(ptml, tree)
|
||||
|
||||
return ptml.bt_root
|
||||
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,119 @@
|
|||
# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
|
||||
from antlr4 import *
|
||||
from io import StringIO
|
||||
import sys
|
||||
if sys.version_info[1] > 5:
|
||||
from typing import TextIO
|
||||
else:
|
||||
from typing.io import TextIO
|
||||
|
||||
|
||||
def serializedATN():
|
||||
return [
|
||||
4,0,17,156,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,
|
||||
2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2,
|
||||
13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1,
|
||||
2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,
|
||||
4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,5,1,6,1,6,1,
|
||||
6,1,6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,
|
||||
1,11,1,11,1,11,1,11,1,11,1,12,1,12,5,12,96,8,12,10,12,12,12,99,9,
|
||||
12,1,13,3,13,102,8,13,1,13,1,13,5,13,106,8,13,10,13,12,13,109,9,
|
||||
13,1,13,3,13,112,8,13,1,14,4,14,115,8,14,11,14,12,14,116,1,14,1,
|
||||
14,5,14,121,8,14,10,14,12,14,124,9,14,1,14,1,14,4,14,128,8,14,11,
|
||||
14,12,14,129,3,14,132,8,14,1,15,1,15,1,15,1,15,5,15,138,8,15,10,
|
||||
15,12,15,141,9,15,1,15,3,15,144,8,15,1,15,1,15,1,15,1,15,1,16,4,
|
||||
16,151,8,16,11,16,12,16,152,1,16,1,16,1,139,0,17,1,1,3,2,5,3,7,4,
|
||||
9,5,11,6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,
|
||||
33,17,1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,
|
||||
1,0,49,57,1,0,48,57,3,0,9,10,12,13,32,32,166,0,1,1,0,0,0,0,3,1,0,
|
||||
0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0,
|
||||
0,0,15,1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0,
|
||||
0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,
|
||||
0,1,35,1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,
|
||||
0,11,66,1,0,0,0,13,71,1,0,0,0,15,76,1,0,0,0,17,78,1,0,0,0,19,80,
|
||||
1,0,0,0,21,82,1,0,0,0,23,87,1,0,0,0,25,93,1,0,0,0,27,111,1,0,0,0,
|
||||
29,131,1,0,0,0,31,133,1,0,0,0,33,150,1,0,0,0,35,36,5,123,0,0,36,
|
||||
2,1,0,0,0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,
|
||||
0,0,41,42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,
|
||||
0,0,45,46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,
|
||||
49,50,5,101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,
|
||||
54,5,116,0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,
|
||||
5,112,0,0,58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,
|
||||
108,0,0,62,63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,
|
||||
0,0,0,66,67,5,116,0,0,67,68,5,97,0,0,68,69,5,115,0,0,69,70,5,107,
|
||||
0,0,70,12,1,0,0,0,71,72,5,99,0,0,72,73,5,111,0,0,73,74,5,110,0,0,
|
||||
74,75,5,100,0,0,75,14,1,0,0,0,76,77,5,40,0,0,77,16,1,0,0,0,78,79,
|
||||
5,41,0,0,79,18,1,0,0,0,80,81,5,44,0,0,81,20,1,0,0,0,82,83,5,84,0,
|
||||
0,83,84,5,114,0,0,84,85,5,117,0,0,85,86,5,101,0,0,86,22,1,0,0,0,
|
||||
87,88,5,70,0,0,88,89,5,97,0,0,89,90,5,108,0,0,90,91,5,115,0,0,91,
|
||||
92,5,101,0,0,92,24,1,0,0,0,93,97,7,0,0,0,94,96,7,1,0,0,95,94,1,0,
|
||||
0,0,96,99,1,0,0,0,97,95,1,0,0,0,97,98,1,0,0,0,98,26,1,0,0,0,99,97,
|
||||
1,0,0,0,100,102,5,45,0,0,101,100,1,0,0,0,101,102,1,0,0,0,102,103,
|
||||
1,0,0,0,103,107,7,2,0,0,104,106,7,3,0,0,105,104,1,0,0,0,106,109,
|
||||
1,0,0,0,107,105,1,0,0,0,107,108,1,0,0,0,108,112,1,0,0,0,109,107,
|
||||
1,0,0,0,110,112,5,48,0,0,111,101,1,0,0,0,111,110,1,0,0,0,112,28,
|
||||
1,0,0,0,113,115,7,3,0,0,114,113,1,0,0,0,115,116,1,0,0,0,116,114,
|
||||
1,0,0,0,116,117,1,0,0,0,117,118,1,0,0,0,118,122,5,46,0,0,119,121,
|
||||
7,3,0,0,120,119,1,0,0,0,121,124,1,0,0,0,122,120,1,0,0,0,122,123,
|
||||
1,0,0,0,123,132,1,0,0,0,124,122,1,0,0,0,125,127,5,46,0,0,126,128,
|
||||
7,3,0,0,127,126,1,0,0,0,128,129,1,0,0,0,129,127,1,0,0,0,129,130,
|
||||
1,0,0,0,130,132,1,0,0,0,131,114,1,0,0,0,131,125,1,0,0,0,132,30,1,
|
||||
0,0,0,133,134,5,47,0,0,134,135,5,47,0,0,135,139,1,0,0,0,136,138,
|
||||
9,0,0,0,137,136,1,0,0,0,138,141,1,0,0,0,139,140,1,0,0,0,139,137,
|
||||
1,0,0,0,140,143,1,0,0,0,141,139,1,0,0,0,142,144,5,13,0,0,143,142,
|
||||
1,0,0,0,143,144,1,0,0,0,144,145,1,0,0,0,145,146,5,10,0,0,146,147,
|
||||
1,0,0,0,147,148,6,15,0,0,148,32,1,0,0,0,149,151,7,4,0,0,150,149,
|
||||
1,0,0,0,151,152,1,0,0,0,152,150,1,0,0,0,152,153,1,0,0,0,153,154,
|
||||
1,0,0,0,154,155,6,16,0,0,155,34,1,0,0,0,12,0,97,101,107,111,116,
|
||||
122,129,131,139,143,152,1,6,0,0
|
||||
]
|
||||
|
||||
class ptmlLexer(Lexer):
|
||||
|
||||
atn = ATNDeserializer().deserialize(serializedATN())
|
||||
|
||||
decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
|
||||
|
||||
T__0 = 1
|
||||
T__1 = 2
|
||||
T__2 = 3
|
||||
T__3 = 4
|
||||
T__4 = 5
|
||||
T__5 = 6
|
||||
T__6 = 7
|
||||
T__7 = 8
|
||||
T__8 = 9
|
||||
T__9 = 10
|
||||
T__10 = 11
|
||||
T__11 = 12
|
||||
Names = 13
|
||||
Integer = 14
|
||||
Float = 15
|
||||
LINE_COMMENT = 16
|
||||
WS = 17
|
||||
|
||||
channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
|
||||
|
||||
modeNames = [ "DEFAULT_MODE" ]
|
||||
|
||||
literalNames = [ "<INVALID>",
|
||||
"'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'task'",
|
||||
"'cond'", "'('", "')'", "','", "'True'", "'False'" ]
|
||||
|
||||
symbolicNames = [ "<INVALID>",
|
||||
"Names", "Integer", "Float", "LINE_COMMENT", "WS" ]
|
||||
|
||||
ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6",
|
||||
"T__7", "T__8", "T__9", "T__10", "T__11", "Names", "Integer",
|
||||
"Float", "LINE_COMMENT", "WS" ]
|
||||
|
||||
grammarFileName = "ptml.g4"
|
||||
|
||||
def __init__(self, input=None, output:TextIO = sys.stdout):
|
||||
super().__init__(input, output)
|
||||
self.checkVersion("4.13.1")
|
||||
self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
|
||||
self._actions = None
|
||||
self._predicates = None
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
T__0=1
|
||||
T__1=2
|
||||
T__2=3
|
||||
T__3=4
|
||||
T__4=5
|
||||
T__5=6
|
||||
T__6=7
|
||||
T__7=8
|
||||
T__8=9
|
||||
T__9=10
|
||||
T__10=11
|
||||
T__11=12
|
||||
Names=13
|
||||
Integer=14
|
||||
Float=15
|
||||
LINE_COMMENT=16
|
||||
WS=17
|
||||
'{'=1
|
||||
'}'=2
|
||||
'sequence'=3
|
||||
'selector'=4
|
||||
'parallel'=5
|
||||
'task'=6
|
||||
'cond'=7
|
||||
'('=8
|
||||
')'=9
|
||||
','=10
|
||||
'True'=11
|
||||
'False'=12
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
|
||||
from antlr4 import *
|
||||
if "." in __name__:
|
||||
from .ptmlParser import ptmlParser
|
||||
else:
|
||||
from ptmlParser import ptmlParser
|
||||
|
||||
# This class defines a complete listener for a parse tree produced by ptmlParser.
|
||||
class ptmlListener(ParseTreeListener):
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#root.
|
||||
def enterRoot(self, ctx:ptmlParser.RootContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#root.
|
||||
def exitRoot(self, ctx:ptmlParser.RootContext):
|
||||
pass
|
||||
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#tree.
|
||||
def enterTree(self, ctx:ptmlParser.TreeContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#tree.
|
||||
def exitTree(self, ctx:ptmlParser.TreeContext):
|
||||
pass
|
||||
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#internal_node.
|
||||
def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#internal_node.
|
||||
def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
|
||||
pass
|
||||
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#action_sign.
|
||||
def enterAction_sign(self, ctx:ptmlParser.Action_signContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#action_sign.
|
||||
def exitAction_sign(self, ctx:ptmlParser.Action_signContext):
|
||||
pass
|
||||
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#action_parm.
|
||||
def enterAction_parm(self, ctx:ptmlParser.Action_parmContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#action_parm.
|
||||
def exitAction_parm(self, ctx:ptmlParser.Action_parmContext):
|
||||
pass
|
||||
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#boolean.
|
||||
def enterBoolean(self, ctx:ptmlParser.BooleanContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#boolean.
|
||||
def exitBoolean(self, ctx:ptmlParser.BooleanContext):
|
||||
pass
|
||||
|
||||
|
||||
|
||||
del ptmlParser
|
||||
|
|
@ -0,0 +1,514 @@
|
|||
# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
|
||||
# encoding: utf-8
|
||||
from antlr4 import *
|
||||
from io import StringIO
|
||||
import sys
|
||||
if sys.version_info[1] > 5:
|
||||
from typing import TextIO
|
||||
else:
|
||||
from typing.io import TextIO
|
||||
|
||||
def serializedATN():
|
||||
return [
|
||||
4,1,17,62,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
|
||||
0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,4,1,24,8,1,11,1,12,
|
||||
1,25,1,1,1,1,1,2,1,2,1,2,1,2,3,2,34,8,2,1,3,1,3,1,3,1,3,3,3,40,8,
|
||||
3,1,3,1,3,1,4,1,4,1,4,3,4,47,8,4,1,4,1,4,1,4,1,4,3,4,53,8,4,5,4,
|
||||
55,8,4,10,4,12,4,58,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6,
|
||||
7,1,0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,33,1,0,0,0,6,35,1,0,0,
|
||||
0,8,46,1,0,0,0,10,59,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1,
|
||||
0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17,18,5,0,0,1,18,
|
||||
1,1,0,0,0,19,20,3,4,2,0,20,23,5,1,0,0,21,24,3,6,3,0,22,24,3,2,1,
|
||||
0,23,21,1,0,0,0,23,22,1,0,0,0,24,25,1,0,0,0,25,23,1,0,0,0,25,26,
|
||||
1,0,0,0,26,27,1,0,0,0,27,28,5,2,0,0,28,3,1,0,0,0,29,34,5,3,0,0,30,
|
||||
34,5,4,0,0,31,32,5,5,0,0,32,34,5,14,0,0,33,29,1,0,0,0,33,30,1,0,
|
||||
0,0,33,31,1,0,0,0,34,5,1,0,0,0,35,36,7,0,0,0,36,37,5,13,0,0,37,39,
|
||||
5,8,0,0,38,40,3,8,4,0,39,38,1,0,0,0,39,40,1,0,0,0,40,41,1,0,0,0,
|
||||
41,42,5,9,0,0,42,7,1,0,0,0,43,47,5,14,0,0,44,47,5,15,0,0,45,47,3,
|
||||
10,5,0,46,43,1,0,0,0,46,44,1,0,0,0,46,45,1,0,0,0,47,56,1,0,0,0,48,
|
||||
52,5,10,0,0,49,53,5,14,0,0,50,53,5,15,0,0,51,53,3,10,5,0,52,49,1,
|
||||
0,0,0,52,50,1,0,0,0,52,51,1,0,0,0,53,55,1,0,0,0,54,48,1,0,0,0,55,
|
||||
58,1,0,0,0,56,54,1,0,0,0,56,57,1,0,0,0,57,9,1,0,0,0,58,56,1,0,0,
|
||||
0,59,60,7,1,0,0,60,11,1,0,0,0,8,15,23,25,33,39,46,52,56
|
||||
]
|
||||
|
||||
class ptmlParser ( Parser ):
|
||||
|
||||
grammarFileName = "ptml.g4"
|
||||
|
||||
atn = ATNDeserializer().deserialize(serializedATN())
|
||||
|
||||
decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
|
||||
|
||||
sharedContextCache = PredictionContextCache()
|
||||
|
||||
literalNames = [ "<INVALID>", "'{'", "'}'", "'sequence'", "'selector'",
|
||||
"'parallel'", "'task'", "'cond'", "'('", "')'", "','",
|
||||
"'True'", "'False'" ]
|
||||
|
||||
symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>",
|
||||
"<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>",
|
||||
"<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>",
|
||||
"<INVALID>", "Names", "Integer", "Float", "LINE_COMMENT",
|
||||
"WS" ]
|
||||
|
||||
RULE_root = 0
|
||||
RULE_tree = 1
|
||||
RULE_internal_node = 2
|
||||
RULE_action_sign = 3
|
||||
RULE_action_parm = 4
|
||||
RULE_boolean = 5
|
||||
|
||||
ruleNames = [ "root", "tree", "internal_node", "action_sign", "action_parm",
|
||||
"boolean" ]
|
||||
|
||||
EOF = Token.EOF
|
||||
T__0=1
|
||||
T__1=2
|
||||
T__2=3
|
||||
T__3=4
|
||||
T__4=5
|
||||
T__5=6
|
||||
T__6=7
|
||||
T__7=8
|
||||
T__8=9
|
||||
T__9=10
|
||||
T__10=11
|
||||
T__11=12
|
||||
Names=13
|
||||
Integer=14
|
||||
Float=15
|
||||
LINE_COMMENT=16
|
||||
WS=17
|
||||
|
||||
def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
|
||||
super().__init__(input, output)
|
||||
self.checkVersion("4.13.1")
|
||||
self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
|
||||
self._predicates = None
|
||||
|
||||
|
||||
|
||||
|
||||
class RootContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
def EOF(self):
|
||||
return self.getToken(ptmlParser.EOF, 0)
|
||||
|
||||
def tree(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTypedRuleContexts(ptmlParser.TreeContext)
|
||||
else:
|
||||
return self.getTypedRuleContext(ptmlParser.TreeContext,i)
|
||||
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_root
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterRoot" ):
|
||||
listener.enterRoot(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitRoot" ):
|
||||
listener.exitRoot(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def root(self):
|
||||
|
||||
localctx = ptmlParser.RootContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 0, self.RULE_root)
|
||||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 13
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
while True:
|
||||
self.state = 12
|
||||
self.tree()
|
||||
self.state = 15
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)):
|
||||
break
|
||||
|
||||
self.state = 17
|
||||
self.match(ptmlParser.EOF)
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
class TreeContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
def internal_node(self):
|
||||
return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0)
|
||||
|
||||
|
||||
def action_sign(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTypedRuleContexts(ptmlParser.Action_signContext)
|
||||
else:
|
||||
return self.getTypedRuleContext(ptmlParser.Action_signContext,i)
|
||||
|
||||
|
||||
def tree(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTypedRuleContexts(ptmlParser.TreeContext)
|
||||
else:
|
||||
return self.getTypedRuleContext(ptmlParser.TreeContext,i)
|
||||
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_tree
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterTree" ):
|
||||
listener.enterTree(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitTree" ):
|
||||
listener.exitTree(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def tree(self):
|
||||
|
||||
localctx = ptmlParser.TreeContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 2, self.RULE_tree)
|
||||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 19
|
||||
self.internal_node()
|
||||
self.state = 20
|
||||
self.match(ptmlParser.T__0)
|
||||
self.state = 23
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
while True:
|
||||
self.state = 23
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [6, 7]:
|
||||
self.state = 21
|
||||
self.action_sign()
|
||||
pass
|
||||
elif token in [3, 4, 5]:
|
||||
self.state = 22
|
||||
self.tree()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
self.state = 25
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0)):
|
||||
break
|
||||
|
||||
self.state = 27
|
||||
self.match(ptmlParser.T__1)
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
class Internal_nodeContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
def Integer(self):
|
||||
return self.getToken(ptmlParser.Integer, 0)
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_internal_node
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterInternal_node" ):
|
||||
listener.enterInternal_node(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitInternal_node" ):
|
||||
listener.exitInternal_node(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def internal_node(self):
|
||||
|
||||
localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 4, self.RULE_internal_node)
|
||||
try:
|
||||
self.state = 33
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [3]:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 29
|
||||
self.match(ptmlParser.T__2)
|
||||
pass
|
||||
elif token in [4]:
|
||||
self.enterOuterAlt(localctx, 2)
|
||||
self.state = 30
|
||||
self.match(ptmlParser.T__3)
|
||||
pass
|
||||
elif token in [5]:
|
||||
self.enterOuterAlt(localctx, 3)
|
||||
self.state = 31
|
||||
self.match(ptmlParser.T__4)
|
||||
self.state = 32
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
class Action_signContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
def Names(self):
|
||||
return self.getToken(ptmlParser.Names, 0)
|
||||
|
||||
def action_parm(self):
|
||||
return self.getTypedRuleContext(ptmlParser.Action_parmContext,0)
|
||||
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_action_sign
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterAction_sign" ):
|
||||
listener.enterAction_sign(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitAction_sign" ):
|
||||
listener.exitAction_sign(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def action_sign(self):
|
||||
|
||||
localctx = ptmlParser.Action_signContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 6, self.RULE_action_sign)
|
||||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 35
|
||||
_la = self._input.LA(1)
|
||||
if not(_la==6 or _la==7):
|
||||
self._errHandler.recoverInline(self)
|
||||
else:
|
||||
self._errHandler.reportMatch(self)
|
||||
self.consume()
|
||||
self.state = 36
|
||||
self.match(ptmlParser.Names)
|
||||
self.state = 37
|
||||
self.match(ptmlParser.T__7)
|
||||
self.state = 39
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0):
|
||||
self.state = 38
|
||||
self.action_parm()
|
||||
|
||||
|
||||
self.state = 41
|
||||
self.match(ptmlParser.T__8)
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
class Action_parmContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
def Integer(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTokens(ptmlParser.Integer)
|
||||
else:
|
||||
return self.getToken(ptmlParser.Integer, i)
|
||||
|
||||
def Float(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTokens(ptmlParser.Float)
|
||||
else:
|
||||
return self.getToken(ptmlParser.Float, i)
|
||||
|
||||
def boolean(self, i:int=None):
|
||||
if i is None:
|
||||
return self.getTypedRuleContexts(ptmlParser.BooleanContext)
|
||||
else:
|
||||
return self.getTypedRuleContext(ptmlParser.BooleanContext,i)
|
||||
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_action_parm
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterAction_parm" ):
|
||||
listener.enterAction_parm(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitAction_parm" ):
|
||||
listener.exitAction_parm(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def action_parm(self):
|
||||
|
||||
localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 8, self.RULE_action_parm)
|
||||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 46
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [14]:
|
||||
self.state = 43
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
elif token in [15]:
|
||||
self.state = 44
|
||||
self.match(ptmlParser.Float)
|
||||
pass
|
||||
elif token in [11, 12]:
|
||||
self.state = 45
|
||||
self.boolean()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
self.state = 56
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
while _la==10:
|
||||
self.state = 48
|
||||
self.match(ptmlParser.T__9)
|
||||
self.state = 52
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [14]:
|
||||
self.state = 49
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
elif token in [15]:
|
||||
self.state = 50
|
||||
self.match(ptmlParser.Float)
|
||||
pass
|
||||
elif token in [11, 12]:
|
||||
self.state = 51
|
||||
self.boolean()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
self.state = 58
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
class BooleanContext(ParserRuleContext):
|
||||
__slots__ = 'parser'
|
||||
|
||||
def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
|
||||
super().__init__(parent, invokingState)
|
||||
self.parser = parser
|
||||
|
||||
|
||||
def getRuleIndex(self):
|
||||
return ptmlParser.RULE_boolean
|
||||
|
||||
def enterRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "enterBoolean" ):
|
||||
listener.enterBoolean(self)
|
||||
|
||||
def exitRule(self, listener:ParseTreeListener):
|
||||
if hasattr( listener, "exitBoolean" ):
|
||||
listener.exitBoolean(self)
|
||||
|
||||
|
||||
|
||||
|
||||
def boolean(self):
|
||||
|
||||
localctx = ptmlParser.BooleanContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 10, self.RULE_boolean)
|
||||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 59
|
||||
_la = self._input.LA(1)
|
||||
if not(_la==11 or _la==12):
|
||||
self._errHandler.recoverInline(self)
|
||||
else:
|
||||
self._errHandler.reportMatch(self)
|
||||
self.consume()
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
self._errHandler.reportError(self, re)
|
||||
self._errHandler.recover(self, re)
|
||||
finally:
|
||||
self.exitRule()
|
||||
return localctx
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
import shortuuid
|
||||
import py_trees as ptree
|
||||
|
||||
from antlr4 import *
|
||||
|
||||
if "." in __name__:
|
||||
from .ptmlListener import ptmlListener
|
||||
from .ptmlParser import ptmlParser
|
||||
else:
|
||||
from ptmlListener import ptmlListener
|
||||
from ptmlParser import ptmlParser
|
||||
|
||||
short_uuid = lambda: shortuuid.ShortUUID().random(length=8)
|
||||
|
||||
|
||||
class ptmlTranslator(ptmlListener):
|
||||
"""Translate the ptml language to BT.
|
||||
|
||||
Args:
|
||||
ptmlListener (_type_): _description_
|
||||
"""
|
||||
|
||||
def __init__(self, scene, behaviour_lib_path) -> None:
|
||||
super().__init__()
|
||||
self.bt_root = None
|
||||
self.stack = []
|
||||
self.scene = scene
|
||||
self.behaviour_lib_path = behaviour_lib_path
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#root.
|
||||
def enterRoot(self, ctx: ptmlParser.RootContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#root.
|
||||
def exitRoot(self, ctx: ptmlParser.RootContext):
|
||||
pass
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#tree.
|
||||
def enterTree(self, ctx: ptmlParser.TreeContext):
|
||||
type = str(ctx.internal_node().children[0])
|
||||
|
||||
match type:
|
||||
case "sequence":
|
||||
tag = "sequence_" + short_uuid()
|
||||
node = ptree.composites.Sequence(name=tag, memory=False)
|
||||
case "selector":
|
||||
tag = "selector_" + short_uuid()
|
||||
node = ptree.composites.Selector(name=tag, memory=False)
|
||||
case "parallel":
|
||||
tag = "parallel_" + short_uuid()
|
||||
# threshold = int(ctx.children[1])
|
||||
# default policy, success on all
|
||||
node = ptree.composites.Parallel(
|
||||
name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll
|
||||
)
|
||||
case _:
|
||||
raise TypeError("Unknown Composite Type: {}".format(type))
|
||||
|
||||
self.stack.append(node)
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#tree.
|
||||
def exitTree(self, ctx: ptmlParser.TreeContext):
|
||||
if len(self.stack) >= 2:
|
||||
child = self.stack.pop()
|
||||
self.stack[-1].add_child(child)
|
||||
else:
|
||||
self.bt_root = self.stack[0]
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#internal_node.
|
||||
def enterInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#internal_node.
|
||||
def exitInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
|
||||
pass
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#action_sign.
|
||||
def enterAction_sign(self, ctx: ptmlParser.Action_signContext):
|
||||
# cond / task
|
||||
node_type = str(ctx.children[0])
|
||||
name = str(ctx.Names())
|
||||
|
||||
# if have params
|
||||
args = []
|
||||
if len(ctx.children) > 4:
|
||||
params = ctx.action_parm()
|
||||
|
||||
for i in params.children:
|
||||
if isinstance(i, ptmlParser.BooleanContext):
|
||||
args.append(str(i.children[0]))
|
||||
else:
|
||||
args.append(str(i))
|
||||
|
||||
args = "".join(args)
|
||||
|
||||
import sys
|
||||
|
||||
sys.path.append(self.behaviour_lib_path)
|
||||
|
||||
exec("from {} import {}".format(name, name))
|
||||
#
|
||||
tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
|
||||
|
||||
node = eval(
|
||||
"{}('{}', scene, {})".format(name, tag, args), {"scene": self.scene, **locals()}
|
||||
)
|
||||
|
||||
# connect
|
||||
self.stack[-1].add_child(node)
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#action_sign.
|
||||
def exitAction_sign(self, ctx: ptmlParser.Action_signContext):
|
||||
pass
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#action_parm.
|
||||
def enterAction_parm(self, ctx: ptmlParser.Action_parmContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#action_parm.
|
||||
def exitAction_parm(self, ctx: ptmlParser.Action_parmContext):
|
||||
pass
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#boolean.
|
||||
def enterBoolean(self, ctx: ptmlParser.BooleanContext):
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#boolean.
|
||||
def exitBoolean(self, ctx: ptmlParser.BooleanContext):
|
||||
pass
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
import os
|
||||
import py_trees as ptree
|
||||
|
||||
from scene import scene
|
||||
from ptmlCompiler import load
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
project_path = ""
|
||||
|
||||
ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
|
||||
behavior_lib_path = os.path.join(project_path, '../../behavior_lib')
|
||||
|
||||
scene = control.Scene(sceneID=0)
|
||||
# load
|
||||
scene.load_BT(ptml_path, behavior_lib_path)
|
||||
# ptree.display.render_dot_tree(bt)
|
||||
# build and tick
|
||||
scene.BT = ptree.trees.BehaviourTree(scene.BT)
|
||||
# todo: tick this bt
|
||||
print(scene.BT)
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
digraph pastafarianism {
|
||||
ordering=out;
|
||||
graph [fontname="times-roman"];
|
||||
node [fontname="times-roman"];
|
||||
edge [fontname="times-roman"];
|
||||
sequence_oUFBg8fG [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_oUFBg8fG, shape=box, style=filled];
|
||||
selector_mPAUGPy3 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_mPAUGPy3, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_mPAUGPy3;
|
||||
cond_G7w6nx8B [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_G7w6nx8B, shape=ellipse, style=filled];
|
||||
selector_mPAUGPy3 -> cond_G7w6nx8B;
|
||||
task_XjF4V8bW [fillcolor=gray, fontcolor=black, fontsize=9, label=task_XjF4V8bW, shape=ellipse, style=filled];
|
||||
selector_mPAUGPy3 -> task_XjF4V8bW;
|
||||
sequence_n3nzZvgz [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_n3nzZvgz, shape=box, style=filled];
|
||||
selector_mPAUGPy3 -> sequence_n3nzZvgz;
|
||||
cond_KCt2aubU [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_KCt2aubU, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> cond_KCt2aubU;
|
||||
task_a8inFHcZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_a8inFHcZ, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> task_a8inFHcZ;
|
||||
task_YF2aiEPZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_YF2aiEPZ, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> task_YF2aiEPZ;
|
||||
parallel_WEe6n4ym [fillcolor=gold, fontcolor=black, fontsize=9, label="parallel_WEe6n4ym\ntype", shape=parallelogram, style=filled];
|
||||
sequence_n3nzZvgz -> parallel_WEe6n4ym;
|
||||
cond_mRQoZb2w [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_mRQoZb2w, shape=ellipse, style=filled];
|
||||
parallel_WEe6n4ym -> cond_mRQoZb2w;
|
||||
task_MW4BQ2XF [fillcolor=gray, fontcolor=black, fontsize=9, label=task_MW4BQ2XF, shape=ellipse, style=filled];
|
||||
parallel_WEe6n4ym -> task_MW4BQ2XF;
|
||||
selector_tU6G7YK6 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_tU6G7YK6, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_tU6G7YK6;
|
||||
cond_UMTzm9kK [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_UMTzm9kK, shape=ellipse, style=filled];
|
||||
selector_tU6G7YK6 -> cond_UMTzm9kK;
|
||||
task_fnpwP2Lu [fillcolor=gray, fontcolor=black, fontsize=9, label=task_fnpwP2Lu, shape=ellipse, style=filled];
|
||||
selector_tU6G7YK6 -> task_fnpwP2Lu;
|
||||
selector_qm8Zexyr [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_qm8Zexyr, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_qm8Zexyr;
|
||||
cond_g2umcjH4 [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_g2umcjH4, shape=ellipse, style=filled];
|
||||
selector_qm8Zexyr -> cond_g2umcjH4;
|
||||
task_H5nwyj3V [fillcolor=gray, fontcolor=black, fontsize=9, label=task_H5nwyj3V, shape=ellipse, style=filled];
|
||||
selector_qm8Zexyr -> task_H5nwyj3V;
|
||||
selector_9SJMhckE [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_9SJMhckE, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_9SJMhckE;
|
||||
cond_D8fqA35b [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_D8fqA35b, shape=ellipse, style=filled];
|
||||
selector_9SJMhckE -> cond_D8fqA35b;
|
||||
task_EikNgjy4 [fillcolor=gray, fontcolor=black, fontsize=9, label=task_EikNgjy4, shape=ellipse, style=filled];
|
||||
selector_9SJMhckE -> task_EikNgjy4;
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,2 @@
|
|||
from . import GrabSim_pb2
|
||||
from . import GrabSim_pb2_grpc
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
|
||||
from .scene import Scene
|
||||
from robowaiter.scene.tasks.AEM import SceneAEM
|
||||
from robowaiter.scene.tasks.GQA import SceneGQA
|
||||
from robowaiter.scene.tasks.VLN import SceneVLN
|
||||
from robowaiter.scene.tasks.VLM import SceneVLM
|
||||
from robowaiter.scene.tasks.Open_tasks import SceneOT
|
||||
from robowaiter.scene.tasks.Auto_tasks import SceneAT
|
||||
|
||||
task_map = {
|
||||
"AEM": SceneAEM,
|
||||
"GQA": SceneGQA,
|
||||
"VLN": SceneVLN,
|
||||
"VLM": SceneVLM,
|
||||
"OT": SceneOT,
|
||||
"AT": SceneAT,
|
||||
}
|
||||
|
|
@ -0,0 +1,275 @@
|
|||
import time
|
||||
import grpc
|
||||
import numpy as np
|
||||
|
||||
from robowaiter.proto import GrabSim_pb2
|
||||
from robowaiter.proto import GrabSim_pb2_grpc
|
||||
|
||||
|
||||
channel = grpc.insecure_channel(
|
||||
"localhost:30001",
|
||||
options=[
|
||||
("grpc.max_send_message_length", 1024 * 1024 * 1024),
|
||||
("grpc.max_receive_message_length", 1024 * 1024 * 1024),
|
||||
],
|
||||
)
|
||||
stub = GrabSim_pb2_grpc.GrabSimStub(channel)
|
||||
|
||||
animation_step = [4, 5, 7, 3, 3]
|
||||
loc_offset = [-700, -1400]
|
||||
|
||||
|
||||
def init_world(scene_num=1, mapID=3):
|
||||
stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID))
|
||||
time.sleep(3) # wait for the map to load
|
||||
|
||||
|
||||
def image_extract(camera_data):
|
||||
image = camera_data.images[0]
|
||||
return np.frombuffer(image.data, dtype=image.dtype).reshape(
|
||||
(image.height, image.width, image.channels)
|
||||
)
|
||||
|
||||
|
||||
class Scene:
|
||||
robot = None
|
||||
state = {}
|
||||
"""
|
||||
# 当前场景的状态
|
||||
state: {
|
||||
"chat_pool": [ #未处理的顾客的对话池
|
||||
{
|
||||
"pos": 顾客的位置,
|
||||
"chat": 顾客对话的内容
|
||||
}
|
||||
],
|
||||
|
||||
"status": # 仿真器中的观测信息，见下方详细解释
|
||||
}
|
||||
|
||||
status:
|
||||
location: Dict[X: float, Y: float]
|
||||
rotation: Dict[Yaw: float]
|
||||
joints: List[Dict[name: str, location: Dict[X: float, Y: float, Z: float]]]
|
||||
fingers: List[Dict[name: str, location: List[3 * Dict[X: float, Y: float, Z: float]]]]
|
||||
objects[:-1]: List[Dict[name: str, location: Dict[X: float, Y: float, Z: float]]]
|
||||
objects[-1]: Dict[name: "Hand", boxes: List[Dict[diagonals: List[4 * Dict[X0: float, Y0: float, Z0: float, X1: float, Y1: float, Z1: float]]]]]
|
||||
walkers: List[name: str, pose: Dict[X: float, Y: float, Yaw: float], speed: float, target: Dict[X: float, Y: float, Yaw: float]]
|
||||
timestamp: int, timestep: int
|
||||
collision: str, info: str
|
||||
"""
|
||||
|
||||
def __init__(self,robot, sceneID=0):
|
||||
self.sceneID = sceneID
|
||||
self.use_offset = True
|
||||
|
||||
# init robot
|
||||
robot.set_scene(self)
|
||||
robot.load_BT()
|
||||
self.robot = robot
|
||||
|
||||
|
||||
def run(self):
|
||||
pass
|
||||
|
||||
|
||||
@property
|
||||
def status(self):
|
||||
return stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
|
||||
|
||||
def reset_sim(self):
|
||||
stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
|
||||
|
||||
# reset world
|
||||
init_world()
|
||||
|
||||
# reset state
|
||||
self.state = {
|
||||
"chatting_list": []
|
||||
}
|
||||
|
||||
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
return GrabSim_pb2.WalkerControls.WControl(
|
||||
id=walkerID,
|
||||
autowalk=autowalk,
|
||||
speed=speed,
|
||||
pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
|
||||
)
|
||||
|
||||
def walk_to(self, X, Y, Yaw, velocity=150, dis_limit=100):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
scene=self.sceneID,
|
||||
action=GrabSim_pb2.Action.ActionType.WalkTo,
|
||||
values=[X, Y, Yaw, velocity, dis_limit],
|
||||
)
|
||||
)
|
||||
|
||||
def reachable_check(self, X, Y, Yaw):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
navigation_info = stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
scene=self.sceneID,
|
||||
action=GrabSim_pb2.Action.ActionType.WalkTo,
|
||||
values=[X, Y, Yaw],
|
||||
)
|
||||
).info
|
||||
if navigation_info == "Unreachable":
|
||||
return False
|
||||
else:
|
||||
return True
|
||||
|
||||
def add_walker(self, X, Y, Yaw):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
if self.reachable_check(X, Y, Yaw):
|
||||
stub.AddWalker(
|
||||
GrabSim_pb2.WalkerList(
|
||||
walkers=[
|
||||
GrabSim_pb2.WalkerList.Walker(
|
||||
id=0,
|
||||
pose=GrabSim_pb2.Pose(
|
||||
X=X, Y=Y, Yaw=Yaw
|
||||
), # Parameter id is useless
|
||||
)
|
||||
],
|
||||
scene=self.sceneID,
|
||||
)
|
||||
)
|
||||
|
||||
def remove_walker(self, *args): # take single walkerID or a list of walkerIDs
|
||||
remove_list = []
|
||||
if isinstance(args[0], list):
|
||||
remove_list = args[0]
|
||||
else:
|
||||
for walkerID in args:
|
||||
# walkerID is the index of the walker in status.walkers.
|
||||
# Since status.walkers is a list, some walkerIDs would change after removing a walker.
|
||||
remove_list.append(walkerID)
|
||||
stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
|
||||
|
||||
def clean_walker(self):
|
||||
stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
|
||||
|
||||
def control_walker(self, control_list):
|
||||
stub.ControlWalkers(
|
||||
GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
|
||||
)
|
||||
|
||||
def control_joints(self, angles):
|
||||
stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
scene=self.sceneID,
|
||||
action=GrabSim_pb2.Action.ActionType.RotateJoints,
|
||||
values=angles,
|
||||
)
|
||||
)
|
||||
|
||||
def add_object(self, type, X, Y, Z, Yaw=0):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
stub.AddObjects(
|
||||
GrabSim_pb2.ObjectList(
|
||||
objects=[
|
||||
GrabSim_pb2.ObjectList.Object(x=X, y=Y, yaw=Yaw, z=Z, type=type)
|
||||
],
|
||||
scene=self.sceneID,
|
||||
)
|
||||
)
|
||||
|
||||
def remove_object(self, *args): # refer to remove_walker
|
||||
remove_list = []
|
||||
if isinstance(args[0], list):
|
||||
remove_list = args[0]
|
||||
else:
|
||||
for objectID in args:
|
||||
remove_list.append(objectID)
|
||||
stub.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
|
||||
|
||||
def clean_object(self):
|
||||
stub.CleanObjects(GrabSim_pb2.SceneID(value=self.sceneID))
|
||||
|
||||
def grasp(self, handID, objectID):
|
||||
stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
scene=self.sceneID,
|
||||
action=GrabSim_pb2.Action.ActionType.Grasp,
|
||||
values=[handID, objectID],
|
||||
)
|
||||
)
|
||||
|
||||
def release(self, handID):
|
||||
stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
scene=self.sceneID,
|
||||
action=GrabSim_pb2.Action.ActionType.Release,
|
||||
values=[handID],
|
||||
)
|
||||
)
|
||||
|
||||
def get_camera_color(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def get_camera_depth(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def get_camera_segment(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def chat_bubble(self, message):
|
||||
stub.ControlRobot(
|
||||
GrabSim_pb2.ControlInfo(
|
||||
scene=self.sceneID, type=0, action=1, content=message
|
||||
)
|
||||
)
|
||||
|
||||
def animation_control(self, animation_type):
|
||||
# animation_type: 1:make coffee 2: pour water 3: grab food 4: mop floor 5: clean table
|
||||
scene = stub.ControlRobot(
|
||||
GrabSim_pb2.ControlInfo(scene=self.sceneID, type=animation_type, action=1)
|
||||
)
|
||||
if scene.info == "action success":
|
||||
for i in range(2, animation_step[animation_type - 1] + 1):
|
||||
stub.ControlRobot(
|
||||
GrabSim_pb2.ControlInfo(
|
||||
scene=self.sceneID, type=animation_type, action=i
|
||||
)
|
||||
)
|
||||
|
||||
def animation_reset(self):
|
||||
stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
|
||||
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
"""
|
||||
环境主动探索和记忆
|
||||
要求输出探索结果（语义地图）对环境重点信息记忆。生成环境的语义拓扑地图，和不少于10个环境物品的识别和位置记忆，可以是图片或者文字或者格式化数据。
|
||||
"""
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
class SceneAEM(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
# control.init_world(1, 3)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_object(0, 570, 1600, 85.5) # type与物品编号对应，具体参考README.md
|
||||
self.add_object(1, 570, 1630, 85.5)
|
||||
self.add_object(2, 570, 1660, 85.5)
|
||||
self.add_object(3, 580, 1680, 85.5)
|
||||
|
||||
# todo: 探索并获得语义地图
|
||||
print(self.status.objects) # 全部的物品信息，包括名称、位置等，与获得的语义地图进行对比
|
||||
|
||||
def run(self):
|
||||
pass
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
"""
|
||||
在特定环境下，机器人发现目标，可自主完成任务
|
||||
1. 打扫地面：地面有垃圾，机器人主动扫地、清理地面垃圾
|
||||
2. 收拾桌子：桌子上的污渍，机器人主动擦桌子
|
||||
3. 摆椅子：椅子不正，机器人主动摆正椅子
|
||||
4. 开灯：室内光线暗，机器人主动打开房屋的灯
|
||||
"""
|
||||
|
||||
# todo: 通过行为树控制自动任务
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
|
||||
class SceneAT(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
def run(self):
|
||||
self.chat_bubble("顾客说：请给我一杯咖啡")
|
||||
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
"""
|
||||
具身多轮对话 GQA
|
||||
点餐（order）的对话，咖啡厅服务员可以为客人（NPC）完成点餐基本对话
|
||||
场景对话（GQA）结合场景：询问卫生间、附近娱乐场所（数据来源自主定义）
|
||||
开始条件：顾客NPC发出点餐指令
|
||||
结束条件：顾客NPC发出指令，表示不再需要服务
|
||||
"""
|
||||
|
||||
# todo: 使用大模型进行对话，获得指令信息，适时结束对话
|
||||
# order = {...}
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
class SceneGQA(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
|
||||
def run(self):
|
||||
self.chat_bubble("顾客说：123546567")
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
"""
|
||||
人提出请求，机器人完成任务
|
||||
1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
|
||||
2. 倒水
|
||||
3. 夹点心
|
||||
|
||||
具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
|
||||
|
||||
"""
|
||||
|
||||
# todo: 接收点单信息，大模型生成任务规划
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
class SceneOT(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
|
||||
def run(self):
|
||||
self.chat_bubble("顾客说：请给我一杯咖啡")
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
"""
|
||||
视觉语言操作
|
||||
机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
|
||||
"""
|
||||
|
||||
import time
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
|
||||
class SceneVLM(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
def run(self):
|
||||
# 空调操作
|
||||
self.walk_to(950, 1260, 90) # 没法转向？
|
||||
# todo: 手臂操作
|
||||
time.sleep(5)
|
||||
self.walk_to(947, 1900, 0)
|
||||
|
||||
# 物品挪动
|
||||
# todo: 视觉导航至目标点，操作手臂至可抓位置
|
||||
"""
|
||||
scene.grasp(1, your_objectID)
|
||||
"""
|
||||
|
||||
# todo: 视觉导航至目标点，找准释放位置
|
||||
"""
|
||||
scene.release(1)
|
||||
"""
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
"""
|
||||
视觉语言导航
|
||||
识别顾客（NPC）靠近、打招呼、对话、领位导航到适合人数的空闲餐桌
|
||||
开始条件：监测到顾客靠近
|
||||
结束条件：完成领位，语音：“请问您想喝点什么？”，并等待下一步指令
|
||||
"""
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
|
||||
class SceneVLN(Scene):
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
|
||||
def reset(self):
|
||||
self.reset_sim()
|
||||
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
def run(self):
|
||||
# 实现单顾客领位
|
||||
self.add_walker(1085, 2630, 220)
|
||||
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
# todo: 监测到顾客靠近，打招呼，对话，识别获取空闲餐桌位置
|
||||
# 可以使用scene.chat_bubble(message)函数实现对话
|
||||
|
||||
"""
|
||||
scene.walk_to(your_free_table_location)
|
||||
time.sleep(5)
|
||||
scene.control_walker([scene.walker_control_generator(your_free_table_location)])
|
||||
"""
|
||||
|
||||
reach = True
|
||||
if reach:
|
||||
self.chat_bubble("请问您想喝点什么？")
|
||||
|
||||
print(self.status.walkers)
|
||||
Loading…
Reference in New Issue