ft: 文件名修改

src/actions/error.erl → src/actions/bvError.erl

@@ -1,4 +1,4 @@
--module(error).
+-module(bvError).
 
 -include("eBhv3.hrl").
 

src/actions/failer.erl → src/actions/bvFail.erl

@@ -1,4 +1,4 @@
--module(failer).
+-module(bvFail).
 
 -include("eBhv3.hrl").
 

src/actions/runner.erl → src/actions/bvRun.erl

@@ -1,4 +1,4 @@
--module(runner).
+-module(bvRun).
 
 -include("eBhv3.hrl").
 

src/actions/succeeder.erl → src/actions/bvSucc.erl

@@ -1,4 +1,4 @@
--module(succeeder).
+-module(bvSucc).
 
 -include("eBhv3.hrl").
 

src/actions/wait.erl → src/actions/bvWait.erl

@@ -1,4 +1,4 @@
--module(wait).
+-module(bvWait).
 
 -include("eBhv3.hrl").
 
@@ -9,11 +9,11 @@
 %%--------------------------------------------------------------------
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID}, BTState) ->
-   blackboard:set(start_time, erlang:system_time(millisecond), ID, BTState).
+   bvBlackBoard:set(start_time, erlang:system_time(millisecond), ID, BTState).
 
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{id := ID, properties := #{milliseconds := EndTime}} = _BTNode, BTState) ->
-   StartTime = blackboard:get(start_time, ID, BTState),
+   StartTime = bvBlackBoard:get(start_time, ID, BTState),
    case erlang:system_time(millisecond) - StartTime > EndTime of
       true ->
          {?BT_SUCCESS, BTState};
@@ -23,4 +23,4 @@ tick(#{id := ID, properties := #{milliseconds := EndTime}} = _BTNode, BTState) -
 
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
-   blackboard:remove(start_time, ID, BTState).
+   bvBlackBoard:remove(start_time, ID, BTState).

src/composites/mem_priority.erl → src/composites/bvMemPriority.erl

@@ -1,4 +1,4 @@
--module(mem_priority).
+-module(bvMemPriority).
 
 -include("eBhv3.hrl").
 
@@ -6,26 +6,26 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID, children := Children} = _BTNode, BTState) ->
-   blackboard:set(running_children, Children, ID, BTState).
+   bvBlackBoard: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).
+   RunningChildren = bvBlackBoard:get(running_children, ID, BTState),
+   doTick(RunningChildren, ID, BTState).
 
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, State) ->
-   blackboard:remove(running_children, ID, State).
+   bvBlackBoard:remove(running_children, ID, State).
 
-tick_1([ChildID | T] = Children, ID, BTState) ->
-   case base_node:execute(ChildID, BTState) of
+doTick([ChildID | T] = Children, ID, BTState) ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_FAILURE, BTState1} ->
-         tick_1(T, ID, BTState1);
+         doTick(T, ID, BTState1);
       {?BT_RUNNING, BTState1} ->
-         BTState2 = blackboard:set(running_children, Children, ID, BTState1),
+         BTState2 = bvBlackBoard:set(running_children, Children, ID, BTState1),
          {?BT_RUNNING, BTState2};
       {BTStatus, BTState1} ->
          {BTStatus, BTState1}
    end;
-tick_1([], _ID, BTState) ->
+doTick([], _ID, BTState) ->
    {?BT_FAILURE, BTState}.

src/composites/mem_sequence.erl → src/composites/bvMemSequence.erl

@@ -1,4 +1,4 @@
--module(mem_sequence).
+-module(bvMemSequence).
 
 -include("eBhv3.hrl").
 
@@ -6,26 +6,26 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID, children := Children} = _BTNode, BTState) ->
-   blackboard:set(running_children, Children, ID, BTState).
+   bvBlackBoard: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).
+   RunningChildren = bvBlackBoard:get(running_children, ID, BTState),
+   doTick(RunningChildren, ID, BTState).
 
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
-   blackboard:remove(running_children, ID, BTState).
+   bvBlackBoard:remove(running_children, ID, BTState).
 
-tick_1([ChildID | T] = Children, ID, BTState) ->
-   case base_node:execute(ChildID, BTState) of
+doTick([ChildID | T] = Children, ID, BTState) ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_SUCCESS, BTState1} ->
-         tick_1(T, ID, BTState1);
+         doTick(T, ID, BTState1);
       {?BT_RUNNING, BTState1} ->
-         BTState2 = blackboard:set(running_children, Children, ID, BTState1),
+         BTState2 = bvBlackBoard:set(running_children, Children, ID, BTState1),
          {?BT_RUNNING, BTState2};
       {BTStatus, BTState1} ->
          {BTStatus, BTState1}
    end;
-tick_1([], _ID, BTState) ->
+doTick([], _ID, BTState) ->
    {?BT_SUCCESS, BTState}.

src/composites/priority.erl → src/composites/bvPriority.erl

@@ -1,4 +1,4 @@
--module(priority).
+-module(bvPriority).
 
 -include("eBhv3.hrl").
 
@@ -6,14 +6,14 @@
 
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := Children} = _BTNode, BTState) ->
-   tick_1(Children, BTState).
+   doTick(Children, BTState).
 
-tick_1([ChildID | T], BTState) ->
-   case base_node:execute(ChildID, BTState) of
+doTick([ChildID | T], BTState) ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_FAILURE, BTState1} ->
-         tick_1(T, BTState1);
+         doTick(T, BTState1);
       {BTStatus, BTState1} ->
          {BTStatus, BTState1}
    end;
-tick_1([], BTState) ->
+doTick([], BTState) ->
    {?BT_FAILURE, BTState}.

src/composites/sequence.erl → src/composites/bvSequence.erl

@@ -1,4 +1,4 @@
--module(sequence).
+-module(bvSequence).
 
 -include("eBhv3.hrl").
 
@@ -6,14 +6,14 @@
 
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := Children} = _BTNode, BTState) ->
-   tick_1(Children, BTState).
+   doTick(Children, BTState).
 
-tick_1([ChildID | T], BTState) ->
-   case base_node:execute(ChildID, BTState) of
+doTick([ChildID | T], BTState) ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_SUCCESS, BTState1} ->
-         tick_1(T, BTState1);
+         doTick(T, BTState1);
       {BTStatus, BTState1} ->
          {BTStatus, BTState1}
    end;
-tick_1([], BTState) ->
+doTick([], BTState) ->
    {?BT_SUCCESS, BTState}.

src/core/base_node.erl → src/core/bvBaseNode.erl

@@ -1,4 +1,4 @@
--module(base_node).
+-module(bvBaseNode).
 
 -include("eBhv3.hrl").
 
@@ -30,7 +30,7 @@
 %% @doc 执行节点
 -spec execute(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
 execute(NodeID, BTState) ->
-   BTNode = blackboard:get_btree_node(NodeID),
+   BTNode = bvBlackBoard:get_btree_node(NodeID),
    BTState1 = do_open(BTNode, BTState),
    {BTStatus, BTState2} = do_tick(BTNode, BTState1),
    case BTStatus of
@@ -64,7 +64,7 @@ do_init(ParentNodeID, BTNodeID, TreeMaps, TreeNodeMaps) ->
                   parent_id => ParentNodeID,
                   children => [do_init(ID, ChildBTNodeID, TreeMaps, TreeNodeMaps) || ChildBTNodeID <- Children]
                },
-               blackboard:set_btree_node(BTNode2),
+               bvBlackBoard:set_btree_node(BTNode2),
                {ok, ID};
             _ ->
                {error, {btree_node_not_implement, Name}}
@@ -75,7 +75,7 @@ do_init(ParentNodeID, BTNodeID, TreeMaps, TreeNodeMaps) ->
 %% 如果树节点已经开启，则跳过
 -spec do_open(bt_node(), bt_state()) -> bt_state().
 do_open(#{id := ID, parent_id := ParentID, name := Mod} = BTNode, BTState) ->
-   case blackboard:get('$is_open', ID, false, BTState) of
+   case bvBlackBoard:get('$is_open', ID, false, BTState) of
       true ->
          BTState;
       false ->
@@ -85,11 +85,11 @@ do_open(#{id := ID, parent_id := ParentID, name := Mod} = BTNode, BTState) ->
             false ->
                BTState1 = BTState
          end,
-         BTState2 = blackboard:set('$is_open', true, ID, BTState1),
+         BTState2 = bvBlackBoard:set('$is_open', true, ID, BTState1),
          case is_reference(ParentID) of
             true ->
-               Children = blackboard:get('$children', ParentID, [], BTState2),
-               blackboard:set('$children', [ID | Children], ParentID, BTState2);
+               Children = bvBlackBoard:get('$children', ParentID, [], BTState2),
+               bvBlackBoard:set('$children', [ID | Children], ParentID, BTState2);
             false ->
                BTState2
          end
@@ -104,7 +104,7 @@ do_tick(#{name := Mod} = BTNode, BTState) ->
 %% @doc 如果树节点有close/2函数实现，则执行close函数
 -spec do_close(bt_node(), bt_state()) -> bt_state().
 do_close(#{id := ID, name := Mod} = BTNode, BTState) ->
-   Children = blackboard:get('$children', ID, [], BTState),
+   Children = bvBlackBoard:get('$children', ID, [], BTState),
    BTState1 = do_close_1(Children, BTState),
    case erlang:function_exported(Mod, close, 2) of
       true ->
@@ -112,15 +112,15 @@ do_close(#{id := ID, name := Mod} = BTNode, BTState) ->
       false ->
          BTState2 = BTState1
    end,
-   BTState3 = blackboard:set('$is_open', false, ID, BTState2),
-   BTState4 = blackboard:set('$children', [], ID, BTState3),
-   blackboard:erase_node_local(ID, BTState4).
+   BTState3 = bvBlackBoard:set('$is_open', false, ID, BTState2),
+   BTState4 = bvBlackBoard:set('$children', [], ID, BTState3),
+   bvBlackBoard:erase_node_local(ID, BTState4).
 
 do_close_1([NodeID | T], BTState) ->
    BTState1 = do_close_1(T, BTState),
-   case blackboard:get('$is_open', NodeID, false, BTState1) of
+   case bvBlackBoard:get('$is_open', NodeID, false, BTState1) of
       true ->
-         BTNode = blackboard:get_btree_node(NodeID),
+         BTNode = bvBlackBoard:get_btree_node(NodeID),
          do_close(BTNode, BTState1);
       false ->
          BTState1

src/core/blackboard.erl → src/core/bvBlackBoard.erl

@@ -1,4 +1,4 @@
--module(blackboard).
+-module(bvBlackBoard).
 
 -include("eBhv3.hrl").
 

src/decorators/inverter.erl → src/decorators/bvInverter.erl

@@ -1,4 +1,4 @@
--module(inverter).
+-module(bvInverter).
 
 -include("eBhv3.hrl").
 
@@ -6,7 +6,7 @@
 
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := [ChildID]} = _BTNode, BTState) ->
-   case base_node:execute(ChildID, BTState) of
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_SUCCESS, BTState1} ->
          {?BT_FAILURE, BTState1};
       {?BT_FAILURE, BTState1} ->

src/decorators/limiter.erl → src/decorators/bvLimiter.erl

@@ -1,4 +1,4 @@
--module(limiter).
+-module(bvLimiter).
 
 -include("eBhv3.hrl").
 
@@ -6,15 +6,15 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
-   blackboard:set(i, 0, ID, 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) ->
-   case blackboard:get(i, ID, BTState) of
+   case bvBlackBoard:get(i, ID, BTState) of
       I when I < MaxLoop ->
-         case base_node:execute(ChildID, BTState) of
+         case bvBaseNode:execute(ChildID, BTState) of
             {BTStatus, BTState1} when BTStatus =:= ?BT_SUCCESS orelse BTStatus =:= ?BT_FAILURE ->
-               BTState2 = blackboard:set(i, I + 1, ID, BTState1),
+               BTState2 = bvBlackBoard:set(i, I + 1, ID, BTState1),
                {BTStatus, BTState2};
             {BTStatus, BTState1} ->
                {BTStatus, BTState1}
@@ -27,4 +27,4 @@ tick(_BTNode, BTState) ->
 
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
-   blackboard:remove(i, ID, BTState).
+   bvBlackBoard:remove(i, ID, BTState).

src/decorators/max_time.erl → src/decorators/bvMaxTime.erl

@@ -1,4 +1,4 @@
--module(max_time).
+-module(bvMaxTime).
 
 -include("eBhv3.hrl").
 
@@ -6,12 +6,12 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
-   blackboard:set(start_time, erlang:system_time(millisecond), ID, BTState).
+   bvBlackBoard:set(start_time, erlang:system_time(millisecond), ID, BTState).
 
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{id := ID, children := [ChildID], properties := #{max_time := MaxTime}} = _BTNode, BTState) ->
-   StartTime = blackboard:get(start_time, ID, BTState),
-   {BTStatus, BTState1} = base_node:execute(ChildID, BTState),
+   StartTime = bvBlackBoard:get(start_time, ID, BTState),
+   {BTStatus, BTState1} = bvBaseNode:execute(ChildID, BTState),
    case MaxTime > erlang:system_time(millisecond) - StartTime of
       true ->
          {BTStatus, BTState1};
@@ -23,4 +23,4 @@ tick(_BTNode, BTState) ->
 
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
-   blackboard:remove(start_time, ID, BTState).
+   bvBlackBoard:remove(start_time, ID, BTState).

src/decorators/repeat_until_failure.erl → src/decorators/bvRUF.erl

@@ -1,4 +1,4 @@
--module(repeat_until_failure).
+-module(bvRUF).
 
 -include("eBhv3.hrl").
 
@@ -6,27 +6,27 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
-   blackboard:set(i, 0, ID, 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 = blackboard:get(i, ID, BTState),
-   {I1, BTStatus, BTState1} = tick_1(MaxLoop, I, ChildID, ?BT_ERROR, BTState),
-   BTState2 = blackboard:set(i, I1, ID, BTState1),
+   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) ->
-   blackboard:remove(i, ID, BTState).
+   bvBlackBoard:remove(i, ID, BTState).
 
-tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
-   case base_node:execute(ChildID, BTState) of
+doTick(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_SUCCESS, BTState1} ->
-         tick_1(MaxLoop, I + 1, ChildID, ?BT_SUCCESS, BTState1);
+         doTick(MaxLoop, I + 1, ChildID, ?BT_SUCCESS, BTState1);
       {BTStatus, BTState1} ->
          {I, BTStatus, BTState1}
    end;
-tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
+doTick(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
    {I, BTStatus, BTState}.

src/decorators/repeat_until_success.erl → src/decorators/bvRUS.erl

@@ -1,4 +1,4 @@
--module(repeat_until_success).
+-module(bvRUS).
 
 -include("eBhv3.hrl").
 
@@ -6,27 +6,27 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
-   blackboard:set(i, 0, ID, 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 = blackboard:get(i, ID, BTState),
-   {I1, BTStatus, BTState1} = tick_1(MaxLoop, I, ChildID, ?BT_ERROR, BTState),
-   BTState2 = blackboard:set(i, I1, ID, BTState1),
+   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) ->
-   blackboard:remove(i, ID, BTState).
+   bvBlackBoard:remove(i, ID, BTState).
 
-tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
-   case base_node:execute(ChildID, BTState) of
+doTick(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {?BT_FAILURE, BTBTState1} ->
-         tick_1(MaxLoop, I + 1, ChildID, ?BT_FAILURE, BTBTState1);
+         doTick(MaxLoop, I + 1, ChildID, ?BT_FAILURE, BTBTState1);
       {BTStatus, BTBTState1} ->
          {I, BTStatus, BTBTState1}
    end;
-tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
+doTick(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
    {I, BTStatus, BTState}.

src/decorators/repeater.erl → src/decorators/bvRepeater.erl

@@ -1,4 +1,4 @@
--module(repeater).
+-module(bvRepeater).
 
 -include("eBhv3.hrl").
 
@@ -6,27 +6,27 @@
 
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
-   blackboard:set(i, 0, ID, 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 = blackboard:get(i, ID, BTState),
-   {I1, BTStatus, BTState1} = tick_1(MaxLoop, I, ChildID, ?BT_SUCCESS, BTState),
-   BTState2 = blackboard:set(i, I1, ID, BTState1),
+   I = bvBlackBoard:get(i, ID, BTState),
+   {I1, BTStatus, BTState1} = doTick(MaxLoop, I, ChildID, ?BT_SUCCESS, 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) ->
-   blackboard:remove(i, ID, BTState).
+   bvBlackBoard:remove(i, ID, BTState).
 
-tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
-   case base_node:execute(ChildID, BTState) of
+doTick(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
+   case bvBaseNode:execute(ChildID, BTState) of
       {BTStatus, BTState1} when BTStatus =:= ?BT_SUCCESS; BTStatus =:= ?BT_FAILURE ->
-         tick_1(MaxLoop, I + 1, ChildID, BTStatus, BTState1);
+         doTick(MaxLoop, I + 1, ChildID, BTStatus, BTState1);
       {BTStatus, BTState1} ->
          {I, BTStatus, BTState1}
    end;
-tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
+doTick(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
    {I, BTStatus, BTState}.

src/eBhv3.erl

@@ -69,18 +69,18 @@ init_btree_by_title(Title, TitleMaps, TreeMaps, TreeNodeMaps) ->
 init_btree(BTNodeID, TreeMaps, TreeNodeMaps) ->
    #{root := Root} = eBhv3:get_btree(BTNodeID, TreeMaps),
    #{id := NodeID} = eBhv3:get_btree_node(Root, TreeNodeMaps),
-   base_node:do_init(undefined, NodeID, TreeMaps, TreeNodeMaps).
+   bvBaseNode:do_init(undefined, NodeID, TreeMaps, TreeNodeMaps).
 
 %% @doc 
 %% 执行行为树节点
 -spec execute(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
 execute(NodeID, BTState) ->
-   BTState1 = blackboard:init_maps_keys(BTState),
-   case base_node:execute(NodeID, BTState1) of
+   BTState1 = bvBlackBoard:init_maps_keys(BTState),
+   case bvBaseNode:execute(NodeID, BTState1) of
       {?BT_RUNNING, BTState2} ->
          {?BT_RUNNING, BTState2};
       {BTStatus, BTState2} ->
-         BTState3 = blackboard:erase_btree(BTState2),
+         BTState3 = bvBlackBoard:erase_btree(BTState2),
          {BTStatus, BTState3}
    end.
 
@@ -88,14 +88,14 @@ execute(NodeID, BTState) ->
 %% 动态执行子节点
 -spec execute_child(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
 execute_child(NodeID, BTState) ->
-   base_node:execute(NodeID, BTState).
+   bvBaseNode:execute(NodeID, BTState).
 
 %% @doc 
 %% 强制关闭指定节点下的所有子节点
 -spec close_btree_node(bt_uid(), bt_state()) -> bt_state().
 close_btree_node(NodeID, BTState) ->
    BTState1 = do_close_btree_node(NodeID, BTState),
-   blackboard:erase_btree(BTState1).
+   bvBlackBoard:erase_btree(BTState1).
 
 %% @doc 
 %% 卸载指定节点下的所有子节点
@@ -182,15 +182,15 @@ name_convert_1(<<>>) ->
 %% 执行关闭行为树节点
 -spec do_close_btree_node(bt_uid(), bt_state()) -> bt_state().
 do_close_btree_node(NodeID, BTState) ->
-   BTNode = blackboard:get_btree_node(NodeID),
-   base_node:do_close(BTNode, BTState).
+   BTNode = bvBlackBoard:get_btree_node(NodeID),
+   bvBaseNode:do_close(BTNode, BTState).
 
 %% 执行卸载行为树节点
 -spec do_unload_btree_node(bt_uid()) -> ok.
 do_unload_btree_node(NodeID) ->
-   #{children := Children} = blackboard:get_btree_node(NodeID),
+   #{children := Children} = bvBlackBoard:get_btree_node(NodeID),
    do_unload_btree_node_1(Children),
-   blackboard:erase_btree_node(NodeID),
+   bvBlackBoard:erase_btree_node(NodeID),
    ok.
 
 do_unload_btree_node_1([NodeID | T]) ->