-module(mem_sequence).

-include("eBhv3.hrl").

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

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

-spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
tick(#{id := ID} = _BTNode, BTState) ->
   RunningChildren = blackboard:get(running_children, ID, BTState),
   tick_1(RunningChildren, ID, BTState).

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

tick_1([ChildID | T] = Children, ID, BTState) ->
   case base_node:execute(ChildID, BTState) of
      {?BT_SUCCESS, BTState1} ->
         tick_1(T, ID, BTState1);
      {?BT_RUNNING, BTState1} ->
         BTState2 = blackboard:set(running_children, Children, ID, BTState1),
         {?BT_RUNNING, BTState2};
      {BTStatus, BTState1} ->
         {BTStatus, BTState1}
   end;
tick_1([], _ID, BTState) ->
   {?BT_SUCCESS, BTState}.