47 lines
1.5 KiB
Python
47 lines
1.5 KiB
Python
import py_trees as ptree
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.algos.navigator.navigate import Navigator
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class ServeCustomer(Act):
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def __init__(self, *args):
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super().__init__(*args)
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@classmethod
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def get_info(cls):
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info = {}
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info['pre'] = set()
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info["add"] = {"CustomerServed()"}
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info["del_set"] = set()
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info['cost']=0
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return info
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def _update(self) -> ptree.common.Status:
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# if self.scene.time - self.scene.state["serve_state"]["last_chat_time"] > 10:
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# self.chat_bubble
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if self.scene.state['attention']['customer'] == {}:
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goal = Act.place_xy_yaw_dic['Bar']
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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customer = self.scene.state["attention"]["customer"]
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if customer not in self.scene.state["serve_state"]:
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self.scene.state["serve_state"][customer] = {
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"last_chat_time": self.scene.time,
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"served": False
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}
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serve_state = self.scene.state["serve_state"][customer]
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if self.scene.time - serve_state['last_chat_time'] > 3:
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serve_state['served'] = True
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del self.scene.state["attention"]["customer"]
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# goal = Act.place_xyz_dic['Bar']
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# self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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# self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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return ptree.common.Status.RUNNING
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