49 lines
1.7 KiB
Python
49 lines
1.7 KiB
Python
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#!/usr/bin/env python
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#
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# License: BSD
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# https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
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#
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##############################################################################
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# Documentation
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##############################################################################
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"""
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Meta methods to create behaviours without needing to create the behaviours
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themselves.
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"""
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##############################################################################
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# Imports
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##############################################################################
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from . import behaviour
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from . import common
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##############################################################################
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# Utility Methods
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##############################################################################
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def create_behaviour_from_function(func):
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"""
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Create a behaviour from the specified function, dropping it in for
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the Behaviour :meth:`~py_trees.behaviour.Behaviour.update` method.
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Ths function must include the `self`
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argument and return a :class:`~py_trees.behaviours.common.Status` value.
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It also automatically provides a drop-in for the :meth:`~py_trees.behaviour.Behaviour.terminate`
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method that clears the feedback message. Other methods are left untouched.
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Args:
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func (:obj:`function`): a drop-in for the :meth:`~py_trees.behaviour.Behaviour.update` method
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"""
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class_name = func.__name__.capitalize()
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def init(self, name=class_name):
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behaviour.Behaviour.__init__(self, name=name)
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def terminate(self, new_status):
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if new_status == common.Status.INVALID:
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self.feedback_message = ""
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return type(class_name, (behaviour.Behaviour,), dict(__init__=init, update=func, terminate=terminate))
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