28 lines
829 B
Python
28 lines
829 B
Python
import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Cond import Cond
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class AnomalyDetected(Cond):
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def __init__(self):
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super().__init__()
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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light_set = {'Is(HallLight,Off)', 'Is(TubeLight,Off)', 'Is(Curtain,Off)'}
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if light_set.issubset(self.scene.state["condition_set"]):
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self.scene.state["anomaly"] = "NoLight"
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return ptree.common.Status.SUCCESS
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# light_set = {'Is(Curtain,On)'}
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# if light_set.issubset(self.scene.state["condition_set"]):
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# self.scene.chat_bubble("太暗了，开灯")
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# self.scene.state["anomaly"] = "NoLight"
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# return ptree.common.Status.SUCCESS
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return ptree.common.Status.FAILURE
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