初次创建仓库提交代码

1. 已经构建好了架子了。
2. 添加了示例的插件

thirdparty/py_trees/timers.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.githubusercontent.com/splintered-reality/py_trees/devel/LICENSE
+#
+##############################################################################
+# Documentation
+##############################################################################
+
+"""
+Time related behaviours.
+"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+import numbers
+import time
+
+from . import behaviour
+from . import common
+
+##############################################################################
+# Behaviours
+##############################################################################
+
+
+class Timer(behaviour.Behaviour):
+    """
+    Simple timer class that is :py:data:`~py_trees.common.Status.RUNNING` until the timer
+    runs out, at which point it is :data:`~py_trees.common.Status.SUCCESS`. This can be
+    used in a wide variety of situations - pause, duration, timeout depending on how
+    it is wired into the tree (e.g. pause in a sequence, duration/timeout in
+    a parallel).
+
+    The timer gets reset either upon entry (:meth:`~py_trees.behaviour.Behaviour.initialise`)
+    if it hasn't already been set and gets cleared when it either runs out, or the behaviour is
+    interrupted by a higher priority or parent cancelling it.
+
+    Args:
+        name (:obj:`str`): name of the behaviour
+        duration (:obj:`int`): length of time to run (in seconds)
+
+    Raises:
+        TypeError: if the provided duration is not a real number
+
+    .. note::
+        This succeeds the first time the behaviour is ticked **after** the expected
+        finishing time.
+
+    .. tip::
+        Use the :func:`~py_trees.decorators.RunningIsFailure` decorator if you need
+        :data:`~py_trees.common.Status.FAILURE` until the timer finishes.
+    """
+    def __init__(self, name="Timer", duration=5.0):
+        super(Timer, self).__init__(name)
+        if not isinstance(duration, numbers.Real):
+            raise TypeError("Timer: duration should be int or float, but you passed in {}".format(type(duration)))
+        self.duration = duration
+        self.finish_time = None
+        self.feedback_message = "duration set to '{0}'s".format(self.duration)
+
+    def initialise(self):
+        """
+        Store the expected finishing time.
+        """
+        self.logger.debug("%s.initialise()" % self.__class__.__name__)
+        if self.finish_time is None:
+            self.finish_time = time.time() + self.duration
+        self.feedback_message = "configured to fire in '{0}' seconds".format(self.duration)
+
+    def update(self):
+        """
+        Check current time against the expected finishing time. If it is in excess, flip to
+        :data:`~py_trees.common.Status.SUCCESS`.
+        """
+        self.logger.debug("%s.update()" % self.__class__.__name__)
+        current_time = time.time()
+        if current_time > self.finish_time:
+            self.feedback_message = "timer ran out [{0}]".format(self.duration)
+            return common.Status.SUCCESS
+        else:
+            # do not show the time, it causes the tree to be 'changed' every tick
+            # and we don't want to spam visualisations with almost meaningless updates
+            self.feedback_message = "still running"  # (%s)" % (self.finish_time - current_time)
+            return common.Status.RUNNING
+
+    def terminate(self, new_status):
+        """
+        Clear the expected finishing time.
+        """
+        self.logger.debug("%s.terminate(%s)" % (self.__class__.__name__, "%s->%s" % (self.status, new_status) if self.status != new_status else "%s" % new_status))
+        # clear the time if finishing with SUCCESS or in the case of an interruption from INVALID
+        if new_status == common.Status.SUCCESS or new_status == common.Status.INVALID:
+            self.finish_time = None