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- -module(bvRUF).
-
- -include("eBhv3.hrl").
-
- -export([open/2, tick/2, close/2]).
-
- -spec open(bt_node(), bt_state()) -> bt_state().
- open(#{id := ID} = _BTNode, BTState) ->
- bvBlackBoard: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 = bvBlackBoard:get(i, ID, BTState),
- {I1, BTStatus, BTState1} = doTick(MaxLoop, I, ChildID, ?BT_ERROR, BTState),
- BTState2 = bvBlackBoard: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) ->
- bvBlackBoard:remove(i, ID, BTState).
-
- doTick(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
- case bvBaseNode:execute(ChildID, BTState) of
- {?BT_SUCCESS, BTState1} ->
- doTick(MaxLoop, I + 1, ChildID, ?BT_SUCCESS, BTState1);
- {BTStatus, BTState1} ->
- {I, BTStatus, BTState1}
- end;
- doTick(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
- {I, BTStatus, BTState}.
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