50 lines
1.6 KiB
Python
50 lines
1.6 KiB
Python
import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.behavior_lib._base.Behavior import Status
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class Clean(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = (
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'Table1','Floor','Chairs'
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)
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def __init__(self, *args):
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super().__init__(*args)
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self.target_obj = self.args[0]
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self.op_type = 5
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if self.target_obj=="Table1":
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self.op_type = 5
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elif self.target_obj=="Floor":
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self.op_type = 4
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elif self.target_obj=="Chairs":
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self.op_type = 7
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@classmethod
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def get_info(cls,arg):
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info = {}
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info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'}
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if arg == "Table1":
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info["add"]= {f'Is(Table1,Clean)'}
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info["del_set"] = {f'Is(Table1,Dirty)'}
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elif arg == "Floor":
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info["add"] = {f'Is(Floor,Clean)'}
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info["del_set"] = {f'Is(Floor,Dirty)'}
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elif arg == "Chairs":
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info["add"] = {f'Is(Chairs,Clean)'}
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info["del_set"] = {f'Is(Chairs,Dirty)'}
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return info
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def _update(self) -> ptree.common.Status:
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self.scene.move_task_area(self.op_type)
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self.scene.op_task_execute(self.op_type)
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self.scene.state["condition_set"] |= (self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
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# print("After Clean condition_set:",self.scene.state["condition_set"] )
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return Status.RUNNING |