124 lines
3.5 KiB
Python
124 lines
3.5 KiB
Python
"""
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顶层行为树中的动作与条件节点
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"""
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from typing import *
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import py_trees
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from py_trees import common
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from py_trees.common import Status
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##############################################################
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# 条件节点
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##############################################################
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class IsChatting(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start checking IsChatting...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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class IsTakingAction(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start checking IsTakingAction...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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class IsSomethingMore(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start checking IsSomethingMore...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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##############################################################
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# 动作节点
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##############################################################
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class Chatting(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start executing Chatting...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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class TakingAction(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start executing TakingAction...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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class TakingMoreAction(py_trees.behaviour.Behaviour):
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def __init__(self, name: str = ""):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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print('Start executing TakingMoreAction...')
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return common.Status.SUCCESS
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status) |