140 lines
3.8 KiB
Python
140 lines
3.8 KiB
Python
"""
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UI场景
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"""
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import sys
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from robowaiter.scene.scene import Scene
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from robowaiter.utils.bt.draw import render_dot_tree
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class SceneUI(Scene):
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scene_queue = None
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ui_queue = None
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# camera_interval = 4
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def __init__(self, robot,scene_queue,ui_queue):
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self.scene_queue = scene_queue
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self.ui_queue = ui_queue
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super().__init__(robot)
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# 在这里加入场景中发生的事件
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self.take_picture = True
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# while True:
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# if not self.scene_queue.empty():
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# param = self.scene_queue.get()
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# # 处理参数...
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# self.ui_queue.put(('say',"test"))
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self.stoped = False
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def run(self):
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# 基类run
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self._run()
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# 运行并由robot打印每步信息
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while not self.stoped:
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self.step()
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def run_AEM(self):
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pass
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def run_VLN(self):
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self.gen_obj()
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self.add_walkers([
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[29, 60, 520], # 顾客 0
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[23, 0, 220], # 秃头老头子 1
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[0, -55, 150], # 小男孩d走来走去 2
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[10, -55, 750], # 3
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[19, 70, -200], # 后门站着不动的 4
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[21, 65, 1000, -90], # 大胖男占了一号桌 5
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[5, 230, 1200], # 小女孩 6
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[26, -28, -10, 90],
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# [26, 60, 0, 90],
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# [26, -28, 0, 90] , #在设置一个在后门随机游走的 7
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# 设置为 26, 60, 0, 90]
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[31, 280, 1200, -45] # 8
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])
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self.control_walker(2, True, 200, -55, 155, 90) # 飞速奔跑的小男孩
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# self.control_walker(7, True, 80, -25, -150, 90)
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self.control_walker(5, True, 65, 995, 520, 90)
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self.control_walker(4, True, 65, 70, -200, 90)
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self.new_event_list = [
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(5, self.customer_say, (0, "请问哪里有空位啊？")),
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(13, self.customer_say, (0, "我想坐高凳子。")),
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(3, self.customer_say, (0, "你带我去吧。")),
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(45, self.control_walker, (0, False, 100, -250, 480, -90)),
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(-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
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]
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def run_VLM(self):
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pass
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def run_GQA(self):
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pass
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def run_OT(self):
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pass
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def run_AT(self):
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pass
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def run_reset(self):
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pass
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def init_robot(self):
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# init robot
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if self.robot:
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self.robot.set_scene(self)
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self.robot.load_BT()
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self.draw_current_bt()
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def draw_current_bt(self):
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render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt")
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self.ui_queue.put(('draw_from_file',"img_label_bt", f"{self.output_path}/current_bt.png"))
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def ui_func(self,args):
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# _,_,output_path = args
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# plt.savefig(output_path)
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self.ui_queue.put(args)
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def _reset(self):
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pass
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def _step(self):
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# print("已运行")
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self.handle_queue_messages()
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# if len(self.sub_task_seq.children) == 0:
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# question = input("请输入指令：")
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# if question[-1] == ")":
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# print(f"设置目标:{question}")
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# self.new_set_goal(question)
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# else:
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# self.customer_say("System",question)
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def handle_queue_messages(self):
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while not self.scene_queue.empty():
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message = self.scene_queue.get()
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function_name = message[0]
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function = getattr(self, function_name, None)
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args = []
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if len(message)>1:
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args = message[1:]
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result = function(*args)
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def stop(self):
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self.stoped = True
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if __name__ == '__main__':
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from robowaiter.robot.robot import Robot
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robot = Robot()
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ui = UI( Robot)
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# create task
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# task = SceneUI(robot,ui)
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