85 lines
2.2 KiB
Python
85 lines
2.2 KiB
Python
"""
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交互式场景，输入
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"""
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import tkinter as tk
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from robowaiter.utils.ui.pyqt5 import UI
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import os
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# todo: 接收点单信息，大模型生成任务规划
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from robowaiter.scene.scene import Scene
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from robowaiter.utils.ui.ui import RobotInterface
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from robowaiter.utils.bt.draw import render_dot_tree
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class SceneUI(Scene):
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scene_queue = None
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ui_queue = None
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# camera_interval = 4
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def __init__(self, robot,scene_queue,ui_queue):
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self.scene_queue = scene_queue
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self.ui_queue = ui_queue
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super().__init__(robot)
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# 在这里加入场景中发生的事件
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# while True:
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# if not self.scene_queue.empty():
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# param = self.scene_queue.get()
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# # 处理参数...
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# self.ui_queue.put(('say',"test"))
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def init_robot(self, robot):
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# init robot
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self.robot = robot
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if robot:
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robot.set_scene(self)
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robot.load_BT()
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self.draw_current_bt()
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def draw_current_bt(self):
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render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt")
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self.ui_queue.put(('draw_from_file',"img_label_bt", f"{self.output_path}/current_bt.png"))
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def ui_func(self,args):
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self.ui_queue.put(args)
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def _reset(self):
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pass
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def _step(self):
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# print("已运行")
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self.handle_queue_messages()
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# if len(self.sub_task_seq.children) == 0:
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# question = input("请输入指令：")
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# if question[-1] == ")":
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# print(f"设置目标:{question}")
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# self.new_set_goal(question)
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# else:
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# self.customer_say("System",question)
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def handle_queue_messages(self):
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while not self.scene_queue.empty():
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message = self.scene_queue.get()
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function_name = message[0]
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function = getattr(self, function_name, None)
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args = []
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if len(message)>1:
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args = message[1:]
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result = function(*args)
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if __name__ == '__main__':
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from robowaiter.robot.robot import Robot
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robot = Robot()
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ui = UI(SceneUI, Robot)
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# create task
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# task = SceneUI(robot,ui)
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