83 lines
2.8 KiB
Python
83 lines
2.8 KiB
Python
import py_trees as ptree
|
|
from typing import Any
|
|
from robowaiter.behavior_lib._base.Act import Act
|
|
from robowaiter.behavior_lib._base.Behavior import Status
|
|
import itertools
|
|
|
|
class Turn(Act):
|
|
can_be_expanded = True
|
|
num_args = 2
|
|
valid_args = [('AC','TubeLight','HallLight','Curtain'),
|
|
('On','Off')]
|
|
|
|
valid_args = list(itertools.product(valid_args[0], valid_args[1]))
|
|
valid_args.extend([('ACTemperature','Up'),('ACTemperature','Down')])
|
|
valid_args = tuple(valid_args)
|
|
|
|
|
|
|
|
def __init__(self, *args):
|
|
super().__init__(*args)
|
|
self.target_obj = self.args[0]
|
|
self.op = self.args[1]
|
|
self.op_type = 13
|
|
|
|
if self.target_obj=="AC":
|
|
self.op_type = 13
|
|
elif self.target_obj=="ACTemperature":
|
|
if self.op == 'Up':
|
|
self.op_type = 14
|
|
elif self.op == 'Down':
|
|
self.op_type = 15
|
|
elif self.target_obj=="TubeLight":
|
|
if self.op == 'On':
|
|
self.op_type = 6
|
|
elif self.op == 'Off':
|
|
self.op_type = 8
|
|
elif self.target_obj=="HallLight":
|
|
if self.op == 'On':
|
|
self.op_type = 9
|
|
elif self.op == 'Off':
|
|
self.op_type = 10
|
|
elif self.target_obj=="Curtain":
|
|
if self.op == 'On':
|
|
self.op_type = 12
|
|
elif self.op == 'Off':
|
|
self.op_type = 11
|
|
|
|
@classmethod
|
|
def get_info(cls,*arg):
|
|
info = {}
|
|
info["pre"] = set()
|
|
if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC':
|
|
if arg[0]!="Curtain":
|
|
info["pre"] |= {f'Holding(Nothing)'}
|
|
if arg[1]=="On":
|
|
info["pre"] |= {f'Is({arg[0]},Off)'}
|
|
info["add"] = {f'Is({arg[0]},On)'}
|
|
info["del_set"] = {f'Is({arg[0]},Off)'}
|
|
elif arg[1]=="Off":
|
|
info["pre"] |= {f'Is({arg[0]},On)'}
|
|
info["add"] = {f'Is({arg[0]},Off)'}
|
|
info["del_set"] = {f'Is({arg[0]},On)'}
|
|
elif arg[0]=='ACTemperature':
|
|
info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'}
|
|
if arg[1]=="Up":
|
|
# info["pre"] |= {f'Is({arg[0]},Down)'}
|
|
info["add"] = {f'Is({arg[0]},Up)'}
|
|
info["del_set"] = {f'Is({arg[0]},Down)'}
|
|
elif arg[1]=="Down":
|
|
# info["pre"] |= {f'Is({arg[0]},Up)'}
|
|
info["add"] = {f'Is({arg[0]},Down)'}
|
|
info["del_set"] = {f'Is({arg[0]},Up)'}
|
|
return info
|
|
|
|
def _update(self) -> ptree.common.Status:
|
|
|
|
self.scene.move_task_area(self.op_type)
|
|
self.scene.op_task_execute(self.op_type)
|
|
|
|
self.scene.state["condition_set"] |= (self.info["add"])
|
|
self.scene.state["condition_set"] -= self.info["del_set"]
|
|
|
|
return Status.RUNNING |