67 lines
1.5 KiB
Python
67 lines
1.5 KiB
Python
import py_trees
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from behavior_library import *
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def LoadMainTree() -> py_trees.trees.BehaviourTree:
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"""
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此方法用于加载固定的顶层行为树（不包括实际执行）
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Args: None
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"""
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seq_subtree_0 = py_trees.composites.Sequence(
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name='seq_subtree_0',
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memory=False,
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children=[IsChatting(), Chatting()]
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)
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seq_subtree_1 = py_trees.composites.Sequence(
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name='seq_subtree_1',
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memory=False,
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children=[IsTakingAction(), TakingAction()]
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)
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seq_subtree_2 = py_trees.composites.Sequence(
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name='seq_subtree_2',
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memory=False,
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children=[IsSomethingMore(), TakingMoreAction()]
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)
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root = py_trees.composites.Selector(
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name='selector_root',
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memory=False,
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children=[seq_subtree_0, seq_subtree_1, seq_subtree_2]
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)
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return py_trees.trees.BehaviourTree(root)
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def LoadSubTree(path: str) -> py_trees.behaviour.Behaviour:
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"""
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此方法用于从ptml文件中加载行为树（不包括实际执行）
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Args:
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-- path: ptml文件的路径
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"""
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# TODO
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pass
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if __name__ == '__main__':
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btree = LoadMainTree()
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def print_tree(tree):
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print(py_trees.display.unicode_tree(root=tree.root, show_status=True))
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try:
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btree.tick_tock(
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period_ms=500,
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number_of_iterations=py_trees.trees.CONTINUOUS_TICK_TOCK,
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pre_tick_handler=None,
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post_tick_handler=print_tree
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)
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except KeyboardInterrupt:
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btree.interrupt()
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