40 lines
1.1 KiB
Python
40 lines
1.1 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 GreetCustomer(Act):
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can_be_expanded = True
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num_args = 0
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valid_args = ()
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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"] = set()
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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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goal = Act.place_xy_yaw_dic['Bar']
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if self.scene.is_nav_walk:
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self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False)
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else:
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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if self.scene.show_bubble:
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self.scene.chat_bubble("欢迎光临！")
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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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customer_name = self.scene.state['attention']['customer']
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self.scene.state['greeted_customers'].add(customer_name)
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return ptree.common.Status.RUNNING
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