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26 lines
901 B
26 lines
901 B
-module(wait).
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-include("eBhv3.hrl").
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-export([open/2, tick/2, close/2]).
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%%--------------------------------------------------------------------
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%% API functions
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%%--------------------------------------------------------------------
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-spec open(bt_node(), bt_state()) -> bt_state().
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open(#{id := ID}, BTState) ->
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blackboard:set(start_time, erlang:system_time(millisecond), ID, BTState).
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-spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
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tick(#{id := ID, properties := #{milliseconds := EndTime}} = _BTNode, BTState) ->
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StartTime = blackboard:get(start_time, ID, BTState),
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case erlang:system_time(millisecond) - StartTime > EndTime of
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true ->
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{?BT_SUCCESS, BTState};
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false ->
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{?BT_RUNNING, BTState}
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end.
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-spec close(bt_node(), bt_state()) -> bt_state().
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close(#{id := ID} = _BTNode, BTState) ->
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blackboard:remove(start_time, ID, BTState).
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