eBhv3/src/decorator/repeat_until_failure.erl

-module(repeat_until_failure).

-include("eBhv3.hrl").

-export([open/2, tick/2, close/2]).

-spec open(bt_node(), bt_state()) -> bt_state().
open(#{id := ID} = _BTNode, BTState) ->
   blackboard:set(i, 0, ID, BTState).

-spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
tick(#{id := ID, children := [ChildID], properties := #{max_loop := MaxLoop}} = _BTNode, BTState) ->
   I = blackboard:get(i, ID, BTState),
   {I1, BTStatus, BTState1} = tick_1(MaxLoop, I, ChildID, ?BT_ERROR, BTState),
   BTState2 = blackboard:set(i, I1, ID, BTState1),
   {BTStatus, BTState2};
tick(_BTNode, BTState) ->
   {?BT_ERROR, BTState}.

-spec close(bt_node(), bt_state()) -> bt_state().
close(#{id := ID} = _BTNode, BTState) ->
   blackboard:remove(i, ID, BTState).

tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
   case base_node:execute(ChildID, BTState) of
      {?BT_SUCCESS, BTState1} ->
         tick_1(MaxLoop, I + 1, ChildID, ?BT_SUCCESS, BTState1);
      {BTStatus, BTState1} ->
         {I, BTStatus, BTState1}
   end;
tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
   {I, BTStatus, BTState}.