修复括号不匹配的bug

robowaiter/behavior_tree/ptml/ptmlCompiler.py

@@ -34,6 +34,7 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
 
     # noting fault, go next
     ptml_path = format_trans_to_bracket(ptml_path)
+    # print(ptml_path)
     input_stream = FileStream(ptml_path, encoding="utf-8")
 
     lexer = Lexer(input_stream)
@@ -43,9 +44,8 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
 
     walker = ParseTreeWalker()
 
-
-    sys.path.append(os.path.join(behaviour_lib_path,"cond"))
-    sys.path.append(os.path.join(behaviour_lib_path,"act"))
+    sys.path.append(os.path.join(behaviour_lib_path, "cond"))
+    sys.path.append(os.path.join(behaviour_lib_path, "act"))
 
     ptml = ptmlTranslator(scene, behaviour_lib_path)  # listener mode
     walker.walk(ptml, tree)
@@ -75,8 +75,7 @@ def format_trans_to_bracket(file_path: str) -> str:
         if "{" in f:
             return file_path
 
-
-    def counter_(input:str) -> int:
+    def counter_(input: str) -> int:
         length = 0
         for i in range(len(input)):
             if input[i] == ' ':
@@ -86,7 +85,6 @@ def format_trans_to_bracket(file_path: str) -> str:
                     raise TabError('Tab length in ptml file should be 4.')
                 return length
 
-
     with open(file_path, 'r') as file:
         ptml_new = ''
         ptml_tab = file.readlines()
@@ -110,9 +108,9 @@ def format_trans_to_bracket(file_path: str) -> str:
             ptml_new += '}'
 
     import re
-    new_path = re.sub('/[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml',file_path)
+    new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path)
     with open(new_path, 'w+') as file:
         file.write(ptml_new)
     return new_path
 
-# format_trans_to_bracket('/home/wu/RoboWaiter/robowaiter/behavior_tree/ptml/test/tab_test.ptml')
+# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\test\\Default.ptml')

robowaiter/behavior_tree/ptml/test/Default.ptml

@@ -9,4 +9,4 @@ selector
         cond HasSubTask()
         sequence
             cond At(Robot,Table)
-        cond At(Robot,Table)
+        // cond At(Robot,Table)

robowaiter/behavior_tree/ptml/test/bracket_ptml.ptml

@@ -1,6 +1,11 @@
 selector
 {
-    sequence
+    selector
+{
+        cond HasMap()
+        act ExploreEnv()
+
+}    sequence
 {
         cond Chatting()
         act DealChat()
@@ -10,6 +15,6 @@ selector
         cond HasSubTask()
         sequence
 {
-            act SubTaskPlaceHolder()
+            cond At(Robot,Table)
 
-}        cond At(Talb,ea)}}
+}        // cond At(Robot,Table)}}

robowaiter/behavior_tree/ptml/test/tab_test.ptml

@@ -1,12 +0,0 @@
-selector
-//    selector
-//        cond HasMap()
-//        act ExploreEnv()
-    sequence
-        cond Chatting()
-        act DealChat()
-    sequence
-        cond HasSubTask()
-        sequence
-            act SubTaskPlaceHolder()
-        cond At(Talb,ea)

robowaiter/robot/Default.ptml

@@ -1,11 +1,13 @@
 selector
-//    sequence
-//        cond NeedExplore()
-//        act ExploreEnv()
+{
     sequence
+{
         cond Chatting()
         act DealChat()
-    sequence
+
+}    sequence
+{
         cond HasSubTask()
         sequence
-            act SubTaskPlaceHolder()
+{
+            act SubTaskPlaceHolder()}}}

robowaiter/robot/robot.py

@@ -1,7 +1,7 @@
 import io
 import contextlib
 
-from robowaiter.utils.bt.load import load_bt_from_ptml,find_node_by_name,print_tree_from_root
+from robowaiter.utils.bt.load import load_bt_from_ptml, find_node_by_name, print_tree_from_root
 from robowaiter.utils.bt.visitor import StatusVisitor
 
 from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action  # 调用最优行为树扩展算法
@@ -15,7 +15,7 @@ class Robot(object):
     scene = None
     response_frequency = 1
 
-    def __init__(self,ptml_path,behavior_lib_path):
+    def __init__(self, ptml_path, behavior_lib_path):
         self.ptml_path = ptml_path
         self.behavior_lib_path = behavior_lib_path
 
@@ -24,13 +24,12 @@ class Robot(object):
         self.last_tick_output = ""
         self.action_list = None
 
-
-    def set_scene(self,scene):
+    def set_scene(self, scene):
         self.scene = scene
 
     def load_BT(self):
-        self.bt = load_bt_from_ptml(self.scene, self.ptml_path,self.behavior_lib_path)
-        sub_task_place_holder = find_node_by_name(self.bt.root,"SubTaskPlaceHolder")
+        self.bt = load_bt_from_ptml(self.scene, self.ptml_path, self.behavior_lib_path)
+        sub_task_place_holder = find_node_by_name(self.bt.root, "SubTaskPlaceHolder")
         if sub_task_place_holder:
             sub_task_seq = sub_task_place_holder.parent
             sub_task_seq.children.pop()
@@ -39,8 +38,7 @@ class Robot(object):
         self.bt_visitor = StatusVisitor()
         self.bt.visitors.append(self.bt_visitor)
 
-
-    def expand_sub_task_tree(self,goal):
+    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")
@@ -54,7 +52,7 @@ class Robot(object):
         with open(file_path, 'w') as file:
             file.write(ptml_string)
 
-        sub_task_bt = load_bt_from_ptml(self.scene, file_path,self.behavior_lib_path)
+        sub_task_bt = load_bt_from_ptml(self.scene, file_path, self.behavior_lib_path)
 
         # 加入删除子树的节点
         seq = Sequence(name="Sequence", memory=False)
@@ -69,7 +67,7 @@ class Robot(object):
 
     def collect_action_nodes(self):
         action_list = [
-            Action(name='MakeCoffee', pre={'At(Robot,CoffeeMachine)'},
+            Action(name='MakeCoffee()', pre={'At(Robot,CoffeeMachine)'},
                    add={'At(Coffee,Bar)'}, del_set=set(), cost=1),
             Action(name='MoveTo(Table)', pre={'At(Robot,Bar)'},
                    add={'At(Robot,Table)'}, del_set=set(), cost=1),
@@ -94,5 +92,6 @@ class Robot(object):
                 print("\n")
                 self.last_tick_output = bt_output
 
+
 if __name__ == '__main__':
     pass

robowaiter/utils/bt/load.py

@@ -4,7 +4,7 @@ from robowaiter.behavior_tree.ptml import ptmlCompiler
 
 def load_bt_from_ptml(scene, ptml_path, behavior_lib_path):
     ptml_bt = ptmlCompiler.load(scene, ptml_path, behavior_lib_path)
-    bt =  ptree.trees.BehaviourTree(ptml_bt)
+    bt = ptree.trees.BehaviourTree(ptml_bt)
 
     with open(ptml_path, 'r') as f:
         ptml = f.read()
@@ -29,6 +29,7 @@ def print_tree_from_root(node, indent=0):
         for child in node.children:
             print_tree_from_root(child, indent + 1)
 
+
 def find_node_by_name(tree, name):
     """
     Find a node in the behavior tree with the specified name.
@@ -46,8 +47,6 @@ def find_node_by_name(tree, name):
                 return result
     return None
 
-
-
 # class BehaviorTree(ptree):
 #     def __init__(self):
 #         super().__init__()

run_robowaiter.py

@@ -1,7 +1,7 @@
 import os
 from robowaiter import Robot, task_map
 
-TASK_NAME = 'AEM'
+TASK_NAME = 'VLM'
 
 # create robot
 project_path = "./robowaiter"

sub_task.ptml

@@ -1,7 +1,7 @@
 selector{
-cond EnvExplored()
+cond At(Coffee,Bar)
 selector{
-cond At(Robot,Bar)
-act ExploreEnv()
+cond At(Robot,CoffeeMachine)
+act MakeCoffee()
 }
 }