|
|
- -module(mem_sequence).
-
- -include("eBhv3.hrl").
-
- -export([open/2, tick/2, close/2]).
-
- -spec open(bt_node(), bt_state()) -> bt_state().
- open(#{id := ID, children := Children} = _BTNode, BTState) ->
- blackboard:set(running_children, Children, ID, BTState).
-
- -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
- tick(#{id := ID} = _BTNode, BTState) ->
- RunningChildren = blackboard:get(running_children, ID, BTState),
- tick_1(RunningChildren, ID, BTState).
-
- -spec close(bt_node(), bt_state()) -> bt_state().
- close(#{id := ID} = _BTNode, BTState) ->
- blackboard:remove(running_children, ID, BTState).
-
- tick_1([ChildID | T] = Children, ID, BTState) ->
- case base_node:execute(ChildID, BTState) of
- {?BT_SUCCESS, BTState1} ->
- tick_1(T, ID, BTState1);
- {?BT_RUNNING, BTState1} ->
- BTState2 = blackboard:set(running_children, Children, ID, BTState1),
- {?BT_RUNNING, BTState2};
- {BTStatus, BTState1} ->
- {BTStatus, BTState1}
- end;
- tick_1([], _ID, BTState) ->
- {?BT_SUCCESS, BTState}.
|
