67 lines
1.6 KiB
Python
67 lines
1.6 KiB
Python
import py_trees as ptree
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from typing import Any
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import enum
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from py_trees.common import Status
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# _base Behavior
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class Bahavior(ptree.behaviour.Behaviour):
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can_be_expanded = False
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num_params = 0
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valid_params='''
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None
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'''
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scene = None
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print_name_prefix = ""
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@classmethod
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def get_ins_name(cls,*args):
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name = cls.__name__
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if len(args) > 0:
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ins_name = f'{name}({",".join(list(args))})'
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else:
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ins_name = f'{name}()'
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return ins_name
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def __init__(self,*args):
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self.name = Bahavior.get_ins_name(*args)
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#get valid args
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# self.valid_arg_list = []
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# lines = self.valid_params.strip().splitlines()
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# for line in lines:
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# self.valid_arg_list.append((x.strip for x in line.split(",")))
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self.args = args
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super().__init__(self.name)
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def _update(self) -> ptree.common.Status:
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print("this is just a _base behavior node.")
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return Status.INVALID
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@property
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def print_name(self):
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return f'{self.print_name_prefix}{self.get_ins_name(*self.args)}'
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# let behavior node interact with the scene
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def set_scene(self, scene):
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self.scene = scene
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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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re = self._update()
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return re
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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@property
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def arg_str(self):
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return ",".join(self.args) |