更好的编写事件逻辑

robowaiter/behavior_lib/act/DealChat.py

@@ -10,7 +10,8 @@ class DealChat(Act):
         self.function_success = False
         self.func_map = {
             "create_sub_task": self.create_sub_task,
-            "get_object_info": self.get_object_info
+            "get_object_info": self.get_object_info,
+            "stop_serve": self.stop_serve
         }
 
     def _update(self) -> ptree.common.Status:
@@ -69,4 +70,11 @@ class DealChat(Act):
         if obj == "洗手间":
             near_object = "大门"
 
-        return near_object
+        return near_object
+
+
+
+    def stop_serve(self,**args):
+
+
+        return "好的"

robowaiter/robot/robot.py

@@ -137,6 +137,9 @@ class Robot(object):
 
                 print("\n")
                 self.last_tick_output = bt_output
+                return True
+            else:
+                return False
 
 if __name__ == '__main__':
     pass

robowaiter/scene/scene.py

@@ -51,7 +51,9 @@ class Scene:
     robot = None
     event_list = []
     new_event_list = []
+    signal_event_list = []
     show_bubble = False
+    event_signal = "None"
 
     default_state = {
         "map": {
@@ -99,6 +101,8 @@ class Scene:
             robot.load_BT()
         self.robot = robot
 
+        self.robot_changed = False
+
         # 1-7 正常执行, 8-10 控灯操作移动到6, 11-12窗帘操作不需要移动,
         self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子",    # 1-7
                           "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘",              # 8-12
@@ -153,8 +157,9 @@ class Scene:
 
         self.deal_event()
         self.deal_new_event()
+        self.deal_signal_event()
         self._step()
-        self.robot.step()
+        self.robot_changed = self.robot.step()
 
     def deal_new_event(self):
         if len(self.new_event_list)>0:
@@ -165,6 +170,20 @@ class Scene:
                 self.new_event_list.pop(0)
                 func(*args)
 
+    def deal_signal_event(self):
+        if len(self.signal_event_list)>0:
+            next_event = self.signal_event_list[0]
+            t, func,args = next_event
+            if t < 0 and self.robot_changed: #一直等待机器人行动，直到机器人无行动
+                return
+            if t > 0:
+                time.sleep(t)
+
+            print(f'event: {t}, {func.__name__}')
+            self.signal_event_list.pop(0)
+            func(*args)
+
+
 
     def deal_event(self):
         if len(self.event_list)>0:

robowaiter/scene/tasks/OT/Open_tasks_test.py

@@ -17,8 +17,9 @@ class SceneOT(Scene):
     def __init__(self, robot):
         super().__init__(robot)
         # 在这里加入场景中发生的事件
-        self.new_event_list = [
-            (3, self.customer_say, ("System","来一号桌"))
+        self.signal_event_list = [
+            (3, self.customer_say, ("System","来一号桌")),
+            (-1, self.customer_say, ("System","回去吧")),
             # (5, self.set_goal("At(Robot,BrightTable4)"))
         ]
 

robowaiter/scene/tasks/VLM/VLM_order.py

@@ -10,12 +10,12 @@ class SceneVLM(Scene):
     def __init__(self, robot):
         super().__init__(robot)
         # 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
-        self.new_event_list = [
+        self.signal_event_list = [
             (3, self.add_walker,  (20,0,700)),
-            (5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
+            (1, self.control_walker, (4, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
             # (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
-            (8, self.customer_say, (6, "来杯酸奶吧。")),
-            (7, self.control_walker, (6, False, 100, -250, 480, 0)),  #(-100,600)
+            (-1, self.customer_say, (4, "来杯酸奶吧。")),
+            (-1, self.control_walker, (4, False, 100, -250, 480, 0)),  #(-100,600)
 
             # 有人提出要开空调和关窗帘
             # bar (60, 520)
@@ -24,10 +24,10 @@ class SceneVLM(Scene):
             # (35, self.customer_say, (7,"好热呀！太阳也好大！")),
             # (45, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
 
-            (5, self.add_walker, (0, 0, 0)),
-            (6, self.control_walker, (7, False, 100, 60, 520, 180)),
-            (7, self.customer_say, (7,"好热呀！太阳也好大！")),
-            (8, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
+            (3, self.add_walker, (0, 0, 0)),
+            (1, self.control_walker, (5, False, 100, 60, 520, 180)),
+            (1, self.customer_say, (5,"好热呀！太阳也好大！")),
+            (-1, self.control_walkers_and_say, ([[[5, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
         ]
 
     def _reset(self):