ft: 初始化提交

4 years ago · 658adce1a9
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,29 @@
 .eunit
 *.o
 *.beam
 *.plt
 erl_crash.dump
 .concrete/DEV_MODE
 # rebar 2.x
 .rebar
 rel/example_project
 ebin/*
 deps
 # rebar 3
 .rebar3
 _build/
 _checkouts/
 rebar.lock
 # idea
 .idea
 *.iml
 cmake-build*
 CMakeLists.txt
 # nif compile temp file
 *.pdb
 *.d
 compile_commands.json
--- a/+ 21
+++ b/+ 21
@ -0,0 +1,21 @@
 The MIT License
 Copyright (c) 2019-2020 alisdair sullivan <alisdairsullivan@yahoo.ca>
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:
 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
--- a/README.md
+++ b/README.md
@ -0,0 +1,78 @@
 中文
 =====
 Behavior3的erlang支持库
 快速开始
 ----
 添加如下内容到**rebar.config**
    {deps, [
       ...
       {behavior3erl, "1.0.0"}
    ]}.
 编译
 ----
    $ rebar3 compile
 使用
 ----
    {TitleMaps, TreeMaps, TreeNodeMaps} = behavior_tree:load_tree_file("example.json"),
    {ok, RootID} = behavior_tree:init_btree_by_title(<<"example_ai"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    {_BTStatus, _BTState1} = behavior_tree:execute(RootID, BTState = #{}).
 更多
 ----
 [behavior3editor](https://github.com/behavior3/behavior3editor)
 [behavior3go](https://github.com/magicsea/behavior3go)
 #### Behavior3使用系列文章：
 [（一）行为树应用之行为树简介](http://note.youdao.com/s/77bGugj9)
 [（二）行为树应用之组合节点](http://note.youdao.com/s/XiKlHPIr)
 [（三）行为树应用之装饰节点](http://note.youdao.com/s/9Z6zI3YE)
 [（四）行为树应用之自定义节点](http://note.youdao.com/s/AcRrY8ig)
 [（五）行为树应用之加载行为树](http://note.youdao.com/s/DiqLf0ES)
 [（六）行为树应用之节点执行](http://note.youdao.com/s/PI3Wic5D)
 [（七）行为树应用之设计巡逻兵AI](http://note.youdao.com/s/HTCGTgAm)
 [（八）行为树应用之设计丧尸AI](http://note.youdao.com/s/3wKFxcTw)
 English
 =====
 Behavior3 by erlang library
 Quickstart
 ----
 add to **rebar.config**
    {deps, [
       ...
       {behavior3erl, "1.0.0"}
    ]}.
 Build
 ----
    $ rebar3 compile
 Usage
 ----
    {TitleMaps, TreeMaps, TreeNodeMaps} = behavior_tree:load_tree_file("example.json"),
    {ok, RootID} = behavior_tree:init_btree_by_title(<<"example_ai"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    {_BTStatus, _BTState1} = behavior_tree:execute(RootID, BTState = #{}).
 More
 ----
 [behavior3editor](https://github.com/behavior3/behavior3editor)
 [behavior3go](https://github.com/magicsea/behavior3go)
--- a/examples/action/action_add_rage.erl
+++ b/examples/action/action_add_rage.erl
@ -0,0 +1,21 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 增加怒气
 %%% 根据add_rage增加相应怒气，结果小于等于100
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_add_rage).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := #{add_rage := AddRage}} = _BTree, #{cur_rage := CurRage} = State) ->
    State1 = State#{cur_rage := min(CurRage + AddRage, ?MAX_RAGE)},
    ?INFO("~ts：怒气值增加~w点 总怒气~w点", [maps:get(uid, State1), AddRage, maps:get(cur_rage, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_become_attacking.erl
+++ b/examples/action/action_become_attacking.erl
@ -0,0 +1,20 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 变为攻击状态
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_become_attacking).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    State1 = State#{cur_state := ?SET_STATE(?STATE_TYPE_ATTACKING)},
    ?INFO("~ts：变为攻击状态", [maps:get(uid, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_become_idle.erl
+++ b/examples/action/action_become_idle.erl
@ -0,0 +1,20 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 变为空闲状态
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_become_idle).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    State1 = State#{cur_state := ?SET_STATE(?STATE_TYPE_IDLE)},
    ?INFO("~ts：变为空闲状态", [maps:get(uid, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_become_patrolling.erl
+++ b/examples/action/action_become_patrolling.erl
@ -0,0 +1,20 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 变为巡逻状态
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_become_patrolling).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    State1 = State#{cur_state := ?SET_STATE(?STATE_TYPE_PATROLLING)},
    ?INFO("~ts：变为巡逻状态", [maps:get(uid, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_become_recovering.erl
+++ b/examples/action/action_become_recovering.erl
@ -0,0 +1,20 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 变为恢复状态
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_become_recovering).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    State1 = State#{cur_state := ?SET_STATE(?STATE_TYPE_RECOVERING)},
    ?INFO("~ts：变为恢复状态", [maps:get(uid, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_collect_dest_path.erl
+++ b/examples/action/action_collect_dest_path.erl
@ -0,0 +1,60 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 收集终点路径
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_collect_dest_path).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_grid := CurGrid, grid_list := GirdList} = State) ->
    case GirdList of
        [] ->
            EndGrid = get_end_grid(CurGrid),
            State1 = State#{grid_list := get_grid_path(CurGrid, EndGrid)},
            ?INFO("~ts：找到穿传说中的“大蒜”的位置，要尽快到达那里！", [maps:get(uid, State1)]),
            {?BT_SUCCESS, State1};
        _ ->
            ?INFO("~ts：天要黑了，要尽快到达那里！", [maps:get(uid, State)]),
            {?BT_SUCCESS, State}
    end.
 get_end_grid(CurGrid) ->
    EndGridList = [{0, 0}, {0, ?MAX_X}, {?MAX_Y, ?MAX_X}, {?MAX_Y, 0}],
    {_, EndGrid} = hd(lists:sort([{calc_distance(CurGrid, Grid), Grid} || Grid <- EndGridList])),
    EndGrid.
 calc_distance({X1, Y1}, {X2, Y2}) ->
    math:sqrt(math:pow(X1 - X2, 2) + math:pow(Y1 - Y2, 2)).
 get_grid_path(CurGrid, EndGrid) ->
    case EndGrid of
        {0, 0} ->
            get_grid_path(CurGrid, [EndGrid], 1, 1);
        {0, ?MAX_X} ->
            get_grid_path(CurGrid, [EndGrid], 1, -1);
        {?MAX_Y, ?MAX_X} ->
            get_grid_path(CurGrid, [EndGrid], -1, -1);
        {?MAX_Y, 0} ->
            get_grid_path(CurGrid, [EndGrid], -1, 1)
    end.
 get_grid_path(CurGrid, GridPath, XInc, YInc) ->
    case GridPath of
        [CurGrid | _] ->
            GridPath;
        [{X, Y} | _] ->
            case Y + YInc of
                Y1 when Y1 == 0 orelse Y1 == ?MAX_X ->
                    get_grid_path(CurGrid, [{X + XInc, Y1}, {X, Y1} | GridPath], XInc, bnot YInc + 1);
                Y1 ->
                    get_grid_path(CurGrid, [{X, Y1} | GridPath], XInc, YInc)
            end
    end.
--- a/examples/action/action_collect_path.erl
+++ b/examples/action/action_collect_path.erl
@ -0,0 +1,45 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 收集巡逻路径
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_collect_path).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2, get_grid_path/1]).
 tick(_BTree, #{cur_grid := CurGrid} = State) ->
    State1 = State#{grid_list := get_grid_path(CurGrid)},
    {?BT_SUCCESS, State1}.
 get_grid_path(CurGrid) ->
    List = [{1, 0}, {-1, 0}, {0, 1}, {0, -1}],
    Max = length(List),
    List1 = [E || {_, E} <- lists:sort([{?RAND(1, Max), E} || E <- List])],
    case get_grid_path_1(List1, CurGrid, []) of
        [] ->
            get_grid_path(CurGrid);
        Result ->
            Result
    end.
 get_grid_path_1([{X, Y} | T], {CurX, CurY}, Result) ->
    X1 = CurX + X,
    Y1 = CurY + Y,
    Grid = {X1, Y1},
    case X1 >= 0 andalso X1 =< ?MAX_X andalso Y1 >= 0 andalso Y1 =< ?MAX_Y of
        true ->
            get_grid_path_1(T, Grid, [Grid | Result]);
        false ->
            []
    end;
 get_grid_path_1([], _, Result) ->
    Result.
--- a/examples/action/action_collect_patrol.erl
+++ b/examples/action/action_collect_patrol.erl
@ -0,0 +1,26 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 寻找巡逻兵
 %%% 找到：SUCCESS
 %%% 未找到：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_collect_patrol).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_grid := CurGrid, rival_list := RivalList} = State) ->
    Fun = fun(UID) -> maps:get(type, game_dict:get_role_state(UID)) == ?HUMAN end,
    case lists:filter(Fun, game_dict:get_map_data(CurGrid)) of
        UIDList when UIDList /= [] ->
            ?INFO("~ts：嗅到了人类的味道，将要对[~ts]发起攻击", [maps:get(uid, State), lists:join(",", UIDList)]),
            {?BT_SUCCESS, State#{rival_list := UIDList ++ RivalList}};
        [] ->
            {?BT_FAILURE, State}
    end.
--- a/examples/action/action_cost_power.erl
+++ b/examples/action/action_cost_power.erl
@ -0,0 +1,22 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 扣除体力
 %%% 获取Misc结构中的atk_dmg字段的值
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_cost_power).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    #{cur_power := CurPower, misc := #{atk_dmg := {AtkType, Dmg}} = Misc} = State,
    State1 = State#{cur_power := max(CurPower - Dmg, 0), misc := maps:remove(atk_dmg, Misc)},
    ?INFO("~ts：受到~ts攻击，体力值减少~w点 剩余体力~w点", [maps:get(uid, State1), AtkType, Dmg,maps:get(cur_power, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_cost_rage.erl
+++ b/examples/action/action_cost_rage.erl
@ -0,0 +1,21 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 扣除怒气
 %%% 根据cost_rage扣除相应怒气，结果大于等于0
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_cost_rage).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := #{cost_rage := CostRage}} = _BTree, #{cur_rage := CurRage} = State) ->
    State1 = State#{cur_rage := max(CurRage - CostRage, 0)},
    ?INFO("~ts：怒气值减少~w点", [maps:get(uid, State1), CurRage - maps:get(cur_rage, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_del_dead_target.erl
+++ b/examples/action/action_del_dead_target.erl
@ -0,0 +1,20 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 删除死亡目标
 %%% 删除rival_list中第一个目标
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_del_dead_target).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{rival_list := [_ | T]} = State) ->
    State1 = State#{rival_list := T},
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_died.erl
+++ b/examples/action/action_died.erl
@ -0,0 +1,21 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 自我死亡
 %%% 销毁数据
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_died).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{uid := UID} = State) ->
    self() ! {died, UID},
    ?INFO("~ts 被消灭!", [UID]),
    {?BT_SUCCESS, State#{cur_state := ?SET_STATE(?STATE_TYPE_DEAD)}}.
--- a/examples/action/action_finish.erl
+++ b/examples/action/action_finish.erl
@ -0,0 +1,21 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 游戏结束，根据is_win属性打印结果
 %%% 打印结果，结束行为树运行
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_finish).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := #{is_win := IsWin}} = _BTree, #{uid := UID} = State) ->
    self() ! finish,
    ?INFO("游戏结束，~ts~ts!", [UID, IsWin]),
    {?BT_SUCCESS, State}.
--- a/examples/action/action_move_grid.erl
+++ b/examples/action/action_move_grid.erl
@ -0,0 +1,21 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 移动一格
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_move_grid).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{uid := UID, cur_grid := OldGrid, grid_list := [Grid | T]} = State) ->
    game_dict:update_map_date(OldGrid, Grid, UID),
    State1 = State#{grid_list := T, cur_grid := Grid},
    ?INFO("~ts：移动到了~w格子", [UID, Grid]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_recover_power.erl
+++ b/examples/action/action_recover_power.erl
@ -0,0 +1,22 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 恢复体力
 %%% 根据Max - Min之间随机恢复几点体力
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_recover_power).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := #{max_power := MaxPower, min_power := MinPower}} = _BTree, #{cur_power := CurPower} = State) ->
    RecoverPower = ?RAND(MinPower, MaxPower),
    State1 = State#{cur_power := min(CurPower + RecoverPower, ?MAX_POWER)},
    ?INFO("~ts：体力值增加了~w点 当前体力：~w点", [maps:get(uid, State1), RecoverPower, maps:get(cur_power, State1)]),
    {?BT_SUCCESS, State1}.
--- a/examples/action/action_skill_attack.erl
+++ b/examples/action/action_skill_attack.erl
@ -0,0 +1,44 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 技能攻击
 %%% 随机伤害值 RAND(min_power ,max_power) * RAND(min_rate, max_rate)
 %%% 返回：SUCCESS
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(action_skill_attack).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := Prop} = _BTree, #{uid := UID, rival_list := [RivalUID | _]} = State) ->
    BTreeID = game_dict:get_passivity_btree_id(RivalUID),
    RivalState = get_be_attacker_rival_state(Prop, UID, RivalUID),
    {_, RivalState1} = behavior_tree:execute_sub_tree(BTreeID, RivalState),
    game_dict:put_role_state(RivalUID, RivalState1),
    {?BT_SUCCESS, State}.
 get_be_attacker_rival_state(Prop, UID, RivalUID) ->
    #{
        skill_type := SkillType,
        min_power := MinPower, max_power := MaxPower,
        min_rate := MinRate, max_rate := MaxRate
    } = Prop,
    #{rival_list := RivalList} = RivalState = game_dict:get_role_state(RivalUID),
    case lists:member(UID, RivalList) of
        true ->
            RivalList1 = RivalList;
        false ->
            RivalList1 = RivalList ++ [UID]
    end,
    RivalState1 = RivalState#{
        rival_list := RivalList1,
        misc := #{atk_dmg => {SkillType, ?RAND(MinPower, MaxPower) * ?RAND(MinRate, MaxRate)}}
    },
    game_dict:put_role_state(RivalUID, RivalState1),
    ?INFO("~ts：发动了~ts攻击", [UID, SkillType]),
    RivalState1.
--- a/examples/condition/cond_is_attacking.erl
+++ b/examples/condition/cond_is_attacking.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断是否处于攻击状态
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(cond_is_attacking).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_state := CurState} = State) ->
    case ?IS_STATE(?STATE_TYPE_ATTACKING, CurState) of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_dest.erl
+++ b/examples/condition/cond_is_dest.erl
@ -0,0 +1,23 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断是否到达终点
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:18
 %%%-------------------------------------------------------------------
 -module(cond_is_dest).
 -include("behavior3.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    case State of
        #{grid_list := []} ->
            {?BT_SUCCESS, State};
        #{} ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_died.erl
+++ b/examples/condition/cond_is_died.erl
@ -0,0 +1,23 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断自己是否死亡
 %%% 死亡：SUCCESS
 %%% 存活：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:26
 %%%-------------------------------------------------------------------
 -module(cond_is_died).
 -include("behavior3.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_power := CurPower} = State) ->
    case CurPower =< 0 of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_idle.erl
+++ b/examples/condition/cond_is_idle.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断是否处于空闲状态
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(cond_is_idle).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_state := CurState} = State) ->
    case ?IS_STATE(?STATE_TYPE_IDLE, CurState) of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_patrolling.erl
+++ b/examples/condition/cond_is_patrolling.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断是否处于巡逻状态
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(cond_is_patrolling).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_state := CurState} = State) ->
    case ?IS_STATE(?STATE_TYPE_PATROLLING, CurState) of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_power_full.erl
+++ b/examples/condition/cond_is_power_full.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断体力是否已满
 %%% 已满：SUCCESS
 %%% 未满：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(cond_is_power_full).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_power := CurPower} = State) ->
    case CurPower >= ?MAX_POWER of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_rage_full.erl
+++ b/examples/condition/cond_is_rage_full.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断怒气值是否已满
 %%% 已满：SUCCESS
 %%% 未满：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:18
 %%%-------------------------------------------------------------------
 -module(cond_is_rage_full).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_rage := CurRage} = State) ->
    case CurRage >= ?MAX_RAGE of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_recovering.erl
+++ b/examples/condition/cond_is_recovering.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断是否处于恢复状态
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:13
 %%%-------------------------------------------------------------------
 -module(cond_is_recovering).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, #{cur_state := CurState} = State) ->
    case ?IS_STATE(?STATE_TYPE_RECOVERING, CurState) of
        true ->
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_is_target_died.erl
+++ b/examples/condition/cond_is_target_died.erl
@ -0,0 +1,28 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断目标是否死亡
 %%% 死亡：SUCCESS
 %%% 未死亡：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:20
 %%%-------------------------------------------------------------------
 -module(cond_is_target_died).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(_BTree, State) ->
    case State of
        #{rival_list := [RivalUID | _]} ->
            case game_dict:get_role_state(RivalUID) of
                #{cur_state := CurState} when ?IS_STATE(?STATE_TYPE_DEAD, CurState) ->
                    {?BT_SUCCESS, State};
                #{} ->
                    {?BT_FAILURE, State}
            end;
        #{} ->
            {?BT_FAILURE, State}
    end.
--- a/examples/condition/cond_power_lt.erl
+++ b/examples/condition/cond_power_lt.erl
@ -0,0 +1,24 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 判断体力是否小于某值
 %%% 是：SUCCESS
 %%% 否：FAILURE
 %%% @end
 %%% Created : 07. 10月 2020 15:20
 %%%-------------------------------------------------------------------
 -module(cond_power_lt).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([tick/2]).
 tick(#{properties := #{power := LTPower}} = _BTree, #{cur_power := CurPower} = State) ->
    case CurPower < LTPower of
        true ->
            ?INFO("~ts：当前体力低于~w点，必须要尽快休息恢复体力！", [maps:get(uid, State), LTPower]),
            {?BT_SUCCESS, State};
        false ->
            {?BT_FAILURE, State}
    end.
--- a/examples/example.hrl
+++ b/examples/example.hrl
@ -0,0 +1,32 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 定义
 %%% @end
 %%% Created : 07. 10月 2020 15:16
 %%%-------------------------------------------------------------------
 -type uid() :: binary().
 -type grid() :: {X :: non_neg_integer(), Y :: non_neg_integer()}.
 -define(INFO(Format, Args), io:format(Format ++ "~n", Args)).
 -define(MAX_X, 5).
 -define(MAX_Y, 5).
 -define(HUMAN, 1).
 -define(ZOMBIE, 2).
 -define(RAND(Min, Max), (rand:uniform(Max - (Min - 1)) + (Min - 1))).
 -define(STATE_TYPE_IDLE, 1).
 -define(STATE_TYPE_ATTACKING, 2).
 -define(STATE_TYPE_PATROLLING, 3).
 -define(STATE_TYPE_RECOVERING, 4).
 -define(STATE_TYPE_DEAD, 5).
 -define(IS_STATE(StateType, CurState), (CurState band (1 bsl (StateType - 1)) > 0)).
 -define(SET_STATE(StateType), (1 bsl (StateType - 1))).
 -define(MAX_POWER, 100).
 -define(MAX_RAGE, 100).
--- a/examples/example.json
+++ b/examples/example.json
--- a/examples/game_dict.erl
+++ b/examples/game_dict.erl
@ -0,0 +1,59 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 数据字典
 %%% @end
 %%% Created : 18. 10月 2020 20:53
 %%%-------------------------------------------------------------------
 -module(game_dict).
 -include("behavior3.hrl").
 -include("example.hrl").
 %% API
 -export([
    get_map_data/1, update_map_date/3,
    get_initiative_btree_id/1, put_initiative_btree_id/2, erase_initiative_btree_id/1,
    get_passivity_btree_id/1, put_passivity_btree_id/2, erase_passivity_btree_id/1,
    get_role_state/1, put_role_state/2, erase_role_state/1
 ]).
 -spec get_map_data(grid()) -> [uid()].
 get_map_data(Grid) ->
    case erlang:get(Grid) of
        undefined ->
            [];
        L ->
            L
    end.
 -spec update_map_date(grid(), grid(), uid()) -> ok.
 update_map_date(OldGrid, NewGrid, UID) ->
    erlang:put(OldGrid, lists:delete(UID, get_map_data(OldGrid))),
    erlang:put(NewGrid, [UID | get_map_data(NewGrid)]),
    ok.
 -spec get_initiative_btree_id(uid()) -> bt_uid().
 get_initiative_btree_id(UID) ->
    erlang:get({initiative_btree_id, UID}).
 put_initiative_btree_id(UID, BTreeID) ->
    erlang:put({initiative_btree_id, UID}, BTreeID).
 erase_initiative_btree_id(UID) ->
    erlang:erase({initiative_btree_id, UID}).
 -spec get_passivity_btree_id(uid()) -> bt_uid().
 get_passivity_btree_id(UID) ->
    erlang:get({passivity_btree_id, UID}).
 put_passivity_btree_id(UID, BTreeID) ->
    erlang:put({passivity_btree_id, UID}, BTreeID).
 erase_passivity_btree_id(UID) ->
    erlang:erase({passivity_btree_id, UID}).
 -spec get_role_state(uid()) -> map().
 get_role_state(UID) ->
    erlang:get({role_state, UID}).
 put_role_state(UID, State) ->
    erlang:put({role_state, UID}, State).
 erase_role_state(UID) ->
    erlang:erase({role_state, UID}).
--- a/examples/game_process.erl
+++ b/examples/game_process.erl
@ -0,0 +1,127 @@
 %%%-------------------------------------------------------------------
 %%% @author DY
 %%% @copyright (C) 2020, <COMPANY>
 %%% @doc
 %%% 游戏进程
 %%% @end
 %%%-------------------------------------------------------------------
 -module(game_process).
 -behaviour(gen_server).
 -include("example.hrl").
 -export([start_link/0]).
 -export([init/1, handle_call/3, handle_cast/2, handle_info/2]).
 -define(SERVER, ?MODULE).
 %%%===================================================================
 %%% Spawning and gen_server implementation
 %%%===================================================================
 start_link() ->
    gen_server:start_link(?MODULE, [], []).
 init([]) ->
    {TitleMaps, TreeMaps, TreeNodeMaps} = behavior_tree:load_tree_file("examples/example.json"),
    ZombieList = [
 %%        <<"HUNTER"/utf8>>,
 %%        <<"BOMMER"/utf8>>,
 %%        <<"JOCKEY"/utf8>>,
 %%        <<"SOMKER"/utf8>>,
 %%        <<"SPITTER"/utf8>>,
 %%        <<"CHARGER"/utf8>>,
 %%        <<"TANK"/utf8>>,
        <<"WITCH"/utf8>>
    ],
    init_zombie(ZombieList, TitleMaps, TreeMaps, TreeNodeMaps),
    UID = <<"凯恩"/utf8>>,
    init_patrol(UID, TitleMaps, TreeMaps, TreeNodeMaps),
    erlang:put(uid_list, ZombieList ++ [UID]),
    self() ! run,
    {ok, #{frame => 1}}.
 handle_call(_Request, _From, State) ->
    {reply, ok, State}.
 handle_cast(_Request, State) ->
    {noreply, State}.
 handle_info(run, #{frame := Frame} = State) ->
    try
        ?INFO("第~w分钟", [Frame]),
        Fun = fun(UID) -> run(UID) end,
        lists:foreach(Fun, get(uid_list)),
        erlang:send_after(1000, self(), run),
        {noreply, State#{frame := Frame + 1}}
    catch
        Error:Reason:StackTrace ->
            ?INFO("Error:~w Reason:~w ~n StackTrace:~p", [Error, Reason, StackTrace]),
            {stop, normal, State}
    end;
 handle_info(finish, State) ->
    {stop, normal, State};
 handle_info({died, UID}, State) ->
    erlang:put(uid_list, lists:delete(UID, erlang:get(uid_list))),
    {noreply, State};
 handle_info(_Info, State) ->
    {noreply, State}.
 %%%===================================================================
 %%% Internal functions
 %%%===================================================================
 new_state(UID, Type, CurGrid) ->
    case Type of
        ?HUMAN ->
            Power = ?MAX_POWER;
        ?ZOMBIE ->
            Power = ?RAND(?MAX_POWER div 2, ?MAX_POWER)
    end,
    State = #{
        uid => UID,
        type => Type,
        cur_state => ?STATE_TYPE_IDLE,
        cur_power => Power,
        cur_rage => 0,
        grid_list => [],
        cur_grid => CurGrid,
        rival_list => [],
        misc => #{}
    },
    ?INFO("生成单位:~tp", [State]),
    State.
 init_zombie([UID | T], TitleMaps, TreeMaps, TreeNodeMaps) ->
    {ok, InitiativeBTreeID} = behavior_tree:init_btree_by_title(<<"丧尸主动AI"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    {ok, PassivityBTreeID} = behavior_tree:init_btree_by_title(<<"丧尸被动AI"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    game_dict:put_initiative_btree_id(UID, InitiativeBTreeID),
    game_dict:put_passivity_btree_id(UID, PassivityBTreeID),
    Grid = {?RAND(0, ?MAX_X), ?RAND(0, ?MAX_Y)},
    game_dict:put_role_state(UID, new_state(UID, ?ZOMBIE, Grid)),
    init_zombie(T, TitleMaps, TreeMaps, TreeNodeMaps);
 init_zombie([], _TitleMaps, _TreeMaps, _TreeNodeMaps) ->
    ok.
 init_patrol(UID, TitleMaps, TreeMaps, TreeNodeMaps) ->
    {ok, InitiativeBTreeID} = behavior_tree:init_btree_by_title(<<"巡逻兵主动AI"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    {ok, PassivityBTreeID} = behavior_tree:init_btree_by_title(<<"巡逻兵被动AI"/utf8>>, TitleMaps, TreeMaps, TreeNodeMaps),
    game_dict:put_initiative_btree_id(UID, InitiativeBTreeID),
    game_dict:put_passivity_btree_id(UID, PassivityBTreeID),
    Grid = {?RAND(0, ?MAX_X), ?RAND(0, ?MAX_Y)},
    game_dict:put_role_state(UID, new_state(UID, ?HUMAN, Grid)).
 run(UID) ->
    BTreeID = game_dict:get_initiative_btree_id(UID),
    #{cur_state := CurState} = State = game_dict:get_role_state(UID),
    case ?IS_STATE(?STATE_TYPE_DEAD, CurState) of
        true ->
            ok;
        false ->
            {_, State1} = behavior_tree:execute(BTreeID, State),
            game_dict:put_role_state(UID, State1)
    end.
--- a/include/behavior3.hrl
+++ b/include/behavior3.hrl
@ -0,0 +1,64 @@
 -ifndef(behavior3_h).
 -define(behavior3_h, true).
 -export_type([bt_uid/0, bt_status/0, bt_node_id/0, bt_state/0, properties/0, uninit_bt_node/0, tree_nodes/0, btree/0, bt_node/0]).
 -type bt_uid() :: reference().
 -define(BT_SUCCESS, 1).
 -define(BT_FAILURE, 2).
 -define(BT_RUNNING, 3).
 -define(BT_ERROR, 4).
 -type bt_status() :: ?BT_SUCCESS|?BT_FAILURE|?BT_RUNNING|?BT_ERROR.
 -type bt_node_id() :: string().
 -type bt_state() :: #{
    '$global_maps' => map(),
    '$local_maps' => map(),
    term() => term()
 }.
 -type properties() :: #{atom() => term()}.
 %% 未初始化的树节点
 -type uninit_bt_node() :: #{
    id => bt_node_id(),
    name => atom() | bt_node_id(),
    category => atom(),
    properties => properties(),
    children => [bt_node_id()]
 }.
 -type tree_nodes() :: #{bt_node_id() => uninit_bt_node()}.
 %% 行为树
 -type btree() :: #{
    id => bt_node_id(),
    root => bt_node_id(),
    properties => properties(),
    tree_nodes => tree_nodes()
 }.
 %% 行为树节点
 -type bt_node() :: #{
    id := bt_uid(),
    bt_node_id := bt_node_id(),
    parent_id := bt_uid(),
    name := atom(),
    category := atom(),
    properties := properties(),
    children := [bt_uid()]
 }.
 -define(BI_MOD_LIST, [
    error, failer, runner, succeeder, wait,
    mem_priority, mem_sequence, priority, sequence,
    inverter, limiter, max_time, repeat_until_failure, repeat_until_success, repeater
 ]).
 -define(BT_LOG(Format), io:format("~w:~w:~w [debug] ~p: " ++ Format ++ "~n", tuple_to_list(time()) ++ [?MODULE])).
 -define(BT_LOG(Format, Args), io:format("~w:~w:~w [debug] ~p: " ++ Format ++ "~n", tuple_to_list(time()) ++ [?MODULE | Args])).
 -endif.
--- a/rebar.config
+++ b/rebar.config
@ -0,0 +1,15 @@
 {erl_opts, [debug_info, {i, "include"}
   %% {d, show_bt_log}, %% log_switch
 ]}.
 {deps, [
   jsx
 ]}.
 {xref_checks, [
   undefined_function_calls
   , undefined_functions
   , locals_not_used
   , deprecated_function_calls
   , deprecated_functions
 ]}.
--- a/src/action/error.erl
+++ b/src/action/error.erl
@ -0,0 +1,22 @@
 -module(error).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(_BTNode, BTState) ->
    {?BT_ERROR, BTState}.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/action/failer.erl
+++ b/src/action/failer.erl
@ -0,0 +1,22 @@
 -module(failer).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(_BTNode, BTState) ->
    {?BT_FAILURE, BTState}.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/action/runner.erl
+++ b/src/action/runner.erl
@ -0,0 +1,22 @@
 -module(runner).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(_BTNode, BTState) ->
    {?BT_RUNNING, BTState}.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/action/succeeder.erl
+++ b/src/action/succeeder.erl
@ -0,0 +1,22 @@
 -module(succeeder).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(_BTNode, BTState) ->
    {?BT_SUCCESS, BTState}.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/action/wait.erl
+++ b/src/action/wait.erl
@ -0,0 +1,36 @@
 -module(wait).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID}, BTState) ->
    blackboard: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),
    case erlang:system_time(millisecond) - StartTime > EndTime of
        true ->
            {?BT_SUCCESS, BTState};
        false ->
            {?BT_RUNNING, BTState}
    end.
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
    blackboard:remove(start_time, ID, BTState).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/composite/mem_priority.erl
+++ b/src/composite/mem_priority.erl
@ -0,0 +1,43 @@
 -module(mem_priority).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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, State) ->
    blackboard:remove(running_children, ID, State).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 tick_1([ChildID | T] = Children, ID, BTState) ->
    case base_node:execute(ChildID, BTState) of
        {?BT_FAILURE, 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_FAILURE, BTState}.
--- a/src/composite/mem_sequence.erl
+++ b/src/composite/mem_sequence.erl
@ -0,0 +1,43 @@
 -module(mem_sequence).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 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}.
--- a/src/composite/priority.erl
+++ b/src/composite/priority.erl
@ -0,0 +1,31 @@
 -module(priority).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := Children} = _BTNode, BTState) ->
    tick_1(Children, BTState).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 tick_1([ChildID | T], BTState) ->
    case base_node:execute(ChildID, BTState) of
        {?BT_FAILURE, BTState1} ->
            tick_1(T, BTState1);
        {BTStatus, BTState1} ->
            {BTStatus, BTState1}
    end;
 tick_1([], BTState) ->
    {?BT_FAILURE, BTState}.
--- a/src/composite/sequence.erl
+++ b/src/composite/sequence.erl
@ -0,0 +1,31 @@
 -module(sequence).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := Children} = _BTNode, BTState) ->
    tick_1(Children, BTState).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 tick_1([ChildID | T], BTState) ->
    case base_node:execute(ChildID, BTState) of
        {?BT_SUCCESS, BTState1} ->
            tick_1(T, BTState1);
        {BTStatus, BTState1} ->
            {BTStatus, BTState1}
    end;
 tick_1([], BTState) ->
    {?BT_SUCCESS, BTState}.
--- a/src/core/base_node.erl
+++ b/src/core/base_node.erl
@ -0,0 +1,137 @@
 -module(base_node).
 -compile([inline, {inline_size, 100}]).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([execute/2]).
 %% Internal API
 -export([do_init/4, do_open/2, do_tick/2, do_close/2]).
 %% 节点初始化
 -callback(init(bt_node()) -> bt_node()).
 %% 开启节点
 -callback(open(bt_node(), bt_state()) -> bt_state()).
 %% 执行节点
 -callback(tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}).
 %% 关闭节点
 -callback(close(bt_node(), bt_state()) -> bt_state()).
 -optional_callbacks([init/1, open/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 %% @doc 执行节点
 -spec execute(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
 execute(NodeID, BTState) ->
    BTNode = blackboard:get_btree_node(NodeID),
    BTState1 = do_open(BTNode, BTState),
    {BTStatus, BTState2} = do_tick(BTNode, BTState1),
    case BTStatus of
        ?BT_RUNNING ->
            {?BT_RUNNING, BTState2};
        BTStatus ->
            BTState3 = do_close(BTNode, BTState2),
            {BTStatus, BTState3}
    end.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 %% 初始化行为树
 -spec do_init(bt_uid()|undefined, bt_node_id(), #{bt_node_id() => btree()}, tree_nodes()) -> {ok, bt_uid()}|{error, term()}.
 do_init(ParentNodeID, BTNodeID, TreeMaps, TreeNodeMaps) ->
    case behavior_tree:get_btree_node(BTNodeID, TreeNodeMaps) of
        #{name := Name, category := tree} ->
            #{root := Root} = behavior_tree:get_btree(Name, TreeMaps),
            do_init(ParentNodeID, Root, TreeMaps, TreeNodeMaps);
        #{name := Name, children := Children} = BTNode ->
            case code:ensure_loaded(Name) of
                {module, Mod} ->
                    case erlang:function_exported(Mod, init, 1) of
                        true ->
                            BTNode1 = Mod:init(BTNode);
                        false ->
                            BTNode1 = BTNode
                    end,
                    ID = make_ref(),
                    BTNode2 = BTNode1#{
                        id => ID,
                        bt_node_id => BTNodeID,
                        parent_id => ParentNodeID,
                        children => [do_init(ID, ChildBTNodeID, TreeMaps, TreeNodeMaps) || ChildBTNodeID <- Children]
                    },
                    blackboard:set_btree_node(BTNode2),
                    {ok, ID};
                _ ->
                    {error, {btree_node_not_implement, Name}}
            end
    end.
 %% 如果树节点没有开启，并且有open/2函数实现，则执行open函数，
 %% 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('$is_open', ID, false, BTState) of
        true ->
            BTState;
        false ->
            case erlang:function_exported(Mod, open, 2) of
                true ->
                    BTState1 = Mod:open(BTNode, BTState);
                false ->
                    BTState1 = BTState
            end,
            BTState2 = blackboard:set('$is_open', true, ID, BTState1),
            case is_reference(ParentID) of
                true ->
                    Children = blackboard:get('$children', ParentID, [], BTState2),
                    blackboard:set('$children', [ID | Children], ParentID, BTState2);
                false ->
                    BTState2
            end
    end.
 %% 执行树节点tick函数
 -spec do_tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 do_tick(#{name := Mod} = BTNode, BTState) ->
    Mod:tick(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('$children', ID, [], BTState),
    BTState1 = do_close_1(Children, BTState),
    case erlang:function_exported(Mod, close, 2) of
        true ->
            BTState2 = Mod:close(BTNode, BTState1);
        false ->
            BTState2 = BTState1
    end,
    BTState3 = blackboard:set('$is_open', false, ID, BTState2),
    BTState4 = blackboard:set('$children', [], ID, BTState3),
    blackboard:erase_node_local(ID, BTState4).
 do_close_1([NodeID | T], BTState) ->
    BTState1 = do_close_1(T, BTState),
    case blackboard:get('$is_open', NodeID, false, BTState1) of
        true ->
            BTNode = blackboard:get_btree_node(NodeID),
            do_close(BTNode, BTState1);
        false ->
            BTState1
    end;
 do_close_1([], BTState) ->
    BTState.
--- a/src/core/behavior_tree.erl
+++ b/src/core/behavior_tree.erl
@ -0,0 +1,215 @@
 -module(behavior_tree).
 -compile([inline, {inline_size, 100}]).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([
    load_tree_file/1,
    init_btree_by_title/4, init_btree/3,
    execute/2, execute_child/2, close_btree_node/2, unload_btree/1
 ]).
 %% Internal API
 -export([get_btree_id_by_title/2, get_btree/2, get_btree_node/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 %% @doc 
 %% 载入行为树文件
 -spec load_tree_file(file:name_all()) -> {#{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()}|{error, term()}.
 load_tree_file(JsonConfig) ->
    case file:read_file(JsonConfig) of
        {ok, Json} ->
            JsonTerm = jsx:decode(Json, [return_maps]),
            parse_btree(JsonTerm);
        {error, Reason} ->
            ?BT_LOG("Error:~w Reason:~w JsonConfig:~w", [error, Reason, JsonConfig]),
            {error, Reason}
    end.
 %% @doc 
 %% 获取行为树根节点id
 -spec get_btree_id_by_title(string(), #{string() => bt_node_id()}) -> bt_node_id()|undefined.
 get_btree_id_by_title(Title, TitleMaps) ->
    case TitleMaps of
        #{Title := ID} ->
            ID;
        #{} ->
            undefined
    end.
 %% @doc 
 %% 获取行为树根节点
 -spec get_btree(bt_node_id(), #{bt_node_id() => btree()}) -> btree()|undefined.
 get_btree(BTNodeID, TreeMaps) ->
    case TreeMaps of
        #{BTNodeID := BTree} ->
            BTree;
        #{} ->
            undefined
    end.
 %% @doc 
 %% 获取行为树子节点
 -spec get_btree_node(bt_node_id(), tree_nodes()) -> uninit_bt_node()|undefined.
 get_btree_node(BTNodeID, TreeNodeMaps) ->
    case TreeNodeMaps of
        #{BTNodeID := BTNode} ->
            BTNode;
        #{} ->
            undefined
    end.
 %% @doc 
 %% 根据给定节点名初始化整颗行为树
 -spec init_btree_by_title(string(), #{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()) -> {ok, bt_uid()}|{error, term()}.
 init_btree_by_title(Title, TitleMaps, TreeMaps, TreeNodeMaps) ->
    BTNodeID = get_btree_id_by_title(Title, TitleMaps),
    init_btree(BTNodeID, TreeMaps, TreeNodeMaps).
 %% @doc 
 %% 根据给定节点初始化整颗行为树
 -spec init_btree(bt_node_id(), #{bt_node_id() => btree()}, tree_nodes()) -> {ok, bt_uid()}|{error, term()}.
 init_btree(BTNodeID, TreeMaps, TreeNodeMaps) ->
    #{root := Root} = behavior_tree:get_btree(BTNodeID, TreeMaps),
    #{id := NodeID} = behavior_tree:get_btree_node(Root, TreeNodeMaps),
    base_node: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
        {?BT_RUNNING, BTState2} ->
            {?BT_RUNNING, BTState2};
        {BTStatus, BTState2} ->
            BTState3 = blackboard:erase_btree(BTState2),
            {BTStatus, BTState3}
    end.
 %% @doc 
 %% 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).
 %% @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).
 %% @doc 
 %% 卸载指定节点下的所有子节点
 -spec unload_btree(bt_uid()) -> ok.
 unload_btree(NodeID) ->
    do_unload_btree_node(NodeID).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 %% 解析行为树
 -spec parse_btree(map()) -> {#{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()}.
 parse_btree(#{<<"trees">> := Trees}) ->
    parse_btree_1(Trees, #{}, #{}, #{}).
 parse_btree_1([Node | T], TitleMaps, TreeMaps, TreeNodeMaps) ->
    #{<<"id">> := ID, <<"title">> := Title, <<"root">> := Root, <<"nodes">> := Nodes} = Node,
    Iterator = maps:iterator(Nodes),
    {TreeNodes, TreeNodeMaps1} = parse_btree_node(maps:next(Iterator), #{}, TreeNodeMaps),
    BTree = #{
        id => ID,
        root => Root,
        properties => parse_properties(Node),
        tree_nodes => TreeNodes
    },
    parse_btree_1(T, TitleMaps#{Title => ID}, TreeMaps#{ID => BTree}, TreeNodeMaps1);
 parse_btree_1([], TitleMaps, TreeMaps, TreeNodeMaps) ->
    {TitleMaps, TreeMaps, TreeNodeMaps}.
 %% 解析树节点
 -spec parse_btree_node({bt_node_id(), map(), maps:iterator()}|none, tree_nodes(), tree_nodes()) -> {tree_nodes(), tree_nodes()}.
 parse_btree_node({ID, Node, NextIterator}, TreeNodes, TreeNodeMaps) ->
    #{<<"name">> := Name, <<"category">> := Category} = Node,
    case Category of
        <<"tree">> ->
            Name1 = Name;
        _ ->
            Name1 = name_convert(Name)
    end,
    TreeNode = #{
        id => ID,
        name => Name1,
        category => binary_to_atom(Category, utf8),
        properties => parse_properties(Node),
        children => parse_children(Node)
    },
    parse_btree_node(maps:next(NextIterator), TreeNodes#{ID => TreeNode}, TreeNodeMaps#{ID => TreeNode});
 parse_btree_node(none, TreeNodes, TreeNodeMaps) ->
    {TreeNodes, TreeNodeMaps}.
 %% 解析子节点属性数据，
 %% key会转为下划线分割小写atom，value保持不变
 -spec parse_properties(map()) -> properties().
 parse_properties(#{<<"properties">> := Properties} = _Node) ->
    Fun = fun(K, V, Map) -> Map#{name_convert(K) => V} end,
    maps:fold(Fun, #{}, Properties).
 %% 解析子节点
 -spec parse_children(map()) -> [bt_node_id()].
 parse_children(#{<<"child">> := Child} = _Node) ->
    [Child];
 parse_children(#{<<"children">> := Children} = _Node) ->
    Children;
 parse_children(_Node) ->
    [].
 %% 模块名转换
 %% 例：PlayerID -> player_id  Name -> name
 -spec name_convert(unicode:chardata()) -> atom().
 name_convert(Name) ->
    case name_convert_1(Name) of
        <<"_"/utf8, NewName/binary>> ->
            binary_to_atom(NewName, utf8);
        NewName ->
            binary_to_atom(NewName, utf8)
    end.
 name_convert_1(<<C/utf8, Other/binary>>) when $A =< C, C =< $Z ->
    Other1 = name_convert_1(Other),
    <<"_"/utf8, (C + 32)/utf8, Other1/binary>>;
 name_convert_1(<<C/utf8, Other/binary>>) ->
    Other1 = name_convert_1(Other),
    <<C/utf8, Other1/binary>>;
 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).
 %% 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),
    do_unload_btree_node_1(Children),
    blackboard:erase_btree_node(NodeID),
    ok.
 do_unload_btree_node_1([NodeID | T]) ->
    do_unload_btree_node(NodeID),
    do_unload_btree_node_1(T);
 do_unload_btree_node_1([]) ->
    ok.
--- a/src/core/blackboard.erl
+++ b/src/core/blackboard.erl
@ -0,0 +1,157 @@
 -module(blackboard).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([
    get_btree_node/1, set_btree_node/1, erase_btree_node/1,
    set_global/3, set/4,
    get_global/2, get_global/3, get/3, get/4,
    remove/2, remove/3
 ]).
 %% Internal API
 -export([init_maps_keys/1, erase_node_local/2, erase_btree/1]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 %% @doc
 %% 获取树节点
 -spec get_btree_node(bt_uid()) -> bt_node()|undefined.
 get_btree_node(NodeID) ->
    get({btree_node, NodeID}).
 %% @doc
 %% 设置树节点
 -spec set_btree_node(bt_node()) -> ok.
 set_btree_node(#{id := NodeID} = BTNode) ->
    put({btree_node, NodeID}, BTNode),
    ok.
 %% @doc
 %% 移除树节点
 -spec erase_btree_node(bt_uid()) -> bt_node().
 erase_btree_node(NodeID) ->
    erase({btree_node, NodeID}).
 %% @doc
 %% 设置全局变量
 -spec set_global(term(), term(), bt_state()) -> bt_state().
 set_global(Key, Value, #{'$global_maps' := GlobalMaps} = BTState) ->
    BTState#{'$global_maps' := GlobalMaps#{Key => Value}}.
 %% @doc
 %% 设置节点变量
 -spec set(term(), term(), bt_uid(), bt_state()) -> bt_state().
 set(Key, Value, NodeID, #{'$local_maps' := LocalMaps} = BTState) ->
    case LocalMaps of
        #{NodeID := ValueMaps} ->
            LocalMaps1 = LocalMaps#{NodeID := ValueMaps#{Key => Value}};
        #{} ->
            LocalMaps1 = LocalMaps#{NodeID => #{Key => Value}}
    end,
    BTState#{'$local_maps' := LocalMaps1}.
 %% @doc
 %% 获取全局变量
 -spec get_global(term(), bt_state()) -> term()|undefined.
 get_global(Key, BTState) ->
    case BTState of
        #{'$global_maps' := #{Key := Value}} ->
            Value;
        #{} ->
            undefined
    end.
 %% @doc
 %% 获取全局变量，不存在则返回Default
 -spec get_global(term(), term(), bt_state()) -> term().
 get_global(Key, Default, BTState) ->
    case BTState of
        #{'$global_maps' := #{Key := Value}} ->
            Value;
        #{} ->
            Default
    end.
 %% @doc
 %% 获取节点变量
 -spec get(term(), bt_uid(), bt_state()) -> term()|undefined.
 get(Key, NodeID, BTState) ->
    case BTState of
        #{'$local_maps' := #{NodeID := #{Key := Value}}} ->
            Value;
        #{} ->
            undefined
    end.
 %% @doc
 %% 获取节点变量，不存在则返回Default
 -spec get(term(), bt_uid(), term(), bt_state()) -> term().
 get(Key, NodeID, Default, BTState) ->
    case BTState of
        #{'$local_maps' := #{NodeID := #{Key := Value}}} ->
            Value;
        #{} ->
            Default
    end.
 %% @doc
 %% 删除全局变量
 -spec remove(term(), bt_state()) -> bt_state().
 remove(Key, #{'$global_maps' := GlobalMaps} = BTState) ->
    BTState#{'$global_maps' := maps:remove(Key, GlobalMaps)}.
 %% @doc
 %% 删除节点变量
 -spec remove(term(), bt_uid(), bt_state()) -> bt_state().
 remove(Key, NodeID, #{'$local_maps' := LocalMaps} = BTState) ->
    case LocalMaps of
        #{NodeID := ValueMap} ->
            LocalMaps1 = LocalMaps#{NodeID := maps:remove(Key, ValueMap)},
            BTState#{'$local_maps' := LocalMaps1};
        #{} ->
            BTState
    end.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 %% 初始化行为树相关结构
 -spec init_maps_keys(bt_state()) -> bt_state().
 init_maps_keys(BTState) ->
    BTState1 = init_global(BTState),
    init_local(BTState1).
 init_global(BTState) ->
    case maps:is_key('$global_maps', BTState) of
        true ->
            BTState;
        false ->
            BTState#{'$global_maps' => #{}}
    end.
 init_local(BTState) ->
    case maps:is_key('$local_maps', BTState) of
        true ->
            BTState;
        false ->
            BTState#{'$local_maps' => #{}}
    end.
 %% 移除节点局部变量结构
 -spec erase_node_local(bt_uid(), bt_state()) -> bt_state().
 erase_node_local(NodeID, #{'$local_maps' := LocalMaps} = BTState) ->
    BTState#{'$local_maps' := maps:remove(NodeID, LocalMaps)}.
 %% 移除行为树相关结构
 -spec erase_btree(bt_state()) -> bt_state().
 erase_btree(BTState) ->
    BTState1 = maps:remove('$global_maps', BTState),
    maps:remove('$local_maps', BTState1).
--- a/src/decorator/inverter.erl
+++ b/src/decorator/inverter.erl
@ -0,0 +1,31 @@
 -module(inverter).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([tick/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
 tick(#{children := [ChildID]} = _BTNode, BTState) ->
    case base_node:execute(ChildID, BTState) of
        {?BT_SUCCESS, BTState1} ->
            {?BT_FAILURE, BTState1};
        {?BT_FAILURE, BTState1} ->
            {?BT_SUCCESS, BTState1};
        {BTStatus, BTState1} ->
            {BTStatus, BTState1}
    end;
 tick(_BTNode, BTState) ->
    {?BT_ERROR, BTState}.
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/decorator/limiter.erl
+++ b/src/decorator/limiter.erl
@ -0,0 +1,43 @@
 -module(limiter).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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) ->
    case blackboard:get(i, ID, BTState) of
        I when I < MaxLoop ->
            case base_node:execute(ChildID, BTState) of
                {BTStatus, BTState1} when BTStatus =:= ?BT_SUCCESS orelse BTStatus =:= ?BT_FAILURE ->
                    BTState2 = blackboard:set(i, I + 1, ID, BTState1),
                    {BTStatus, BTState2};
                {BTStatus, BTState1} ->
                    {BTStatus, BTState1}
            end;
        _I ->
            {?BT_FAILURE, BTState}
    end;
 tick(_BTNode, BTState) ->
    {?BT_ERROR, BTState}.
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
    blackboard:remove(i, ID, BTState).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/decorator/max_time.erl
+++ b/src/decorator/max_time.erl
@ -0,0 +1,39 @@
 -module(max_time).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -spec open(bt_node(), bt_state()) -> bt_state().
 open(#{id := ID} = _BTNode, BTState) ->
    blackboard: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),
    case MaxTime > erlang:system_time(millisecond) - StartTime of
        true ->
            {BTStatus, BTState1};
        false ->
            {?BT_FAILURE, BTState}
    end;
 tick(_BTNode, BTState) ->
    {?BT_ERROR, BTState}.
 -spec close(bt_node(), bt_state()) -> bt_state().
 close(#{id := ID} = _BTNode, BTState) ->
    blackboard:remove(start_time, ID, BTState).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
--- a/src/decorator/repeat_until_failure.erl
+++ b/src/decorator/repeat_until_failure.erl
@ -0,0 +1,44 @@
 -module(repeat_until_failure).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 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}.
--- a/src/decorator/repeat_until_success.erl
+++ b/src/decorator/repeat_until_success.erl
@ -0,0 +1,45 @@
 -module(repeat_until_success).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
    case base_node:execute(ChildID, BTState) of
        {?BT_FAILURE, BTBTState1} ->
            tick_1(MaxLoop, I + 1, ChildID, ?BT_FAILURE, BTBTState1);
        {BTStatus, BTBTState1} ->
            {I, BTStatus, BTBTState1}
    end;
 tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
    {I, BTStatus, BTState}.
--- a/src/decorator/repeater.erl
+++ b/src/decorator/repeater.erl
@ -0,0 +1,44 @@
 -module(repeater).
 %%--------------------------------------------------------------------
 %% include
 %%--------------------------------------------------------------------
 -include("behavior3.hrl").
 %%--------------------------------------------------------------------
 %% export API
 %%--------------------------------------------------------------------
 -export([open/2, tick/2, close/2]).
 %%--------------------------------------------------------------------
 %% API functions
 %%--------------------------------------------------------------------
 -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_SUCCESS, 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).
 %%--------------------------------------------------------------------
 %% Internal functions
 %%--------------------------------------------------------------------
 tick_1(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
    case base_node:execute(ChildID, BTState) of
        {BTStatus, BTState1} when BTStatus =:= ?BT_SUCCESS; BTStatus =:= ?BT_FAILURE ->
            tick_1(MaxLoop, I + 1, ChildID, BTStatus, BTState1);
        {BTStatus, BTState1} ->
            {I, BTStatus, BTState1}
    end;
 tick_1(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
    {I, BTStatus, BTState}.
--- a/src/eBhv3.app.src
+++ b/src/eBhv3.app.src
@ -0,0 +1,10 @@
 {application, eBhv3,
 [{description, "An OTP library"},
  {vsn, "0.1.0"},
  {registered, []},
  {applications, [kernel, stdlib]},
  {env,[]},
  {modules, []},
  {licenses, ["MIT"]},
  {links, []}
 ]}.
--- a/src/eBhv3.erl
+++ b/src/eBhv3.erl
@ -0,0 +1,3 @@
 -module(eBhv3).
 -export([]).