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32 rivejä
1.1 KiB
32 rivejä
1.1 KiB
-module(bvRUF).
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-include("eBhv3.hrl").
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-export([open/2, tick/2, close/2]).
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-spec open(bt_node(), bt_state()) -> bt_state().
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open(#{id := ID} = _BTNode, BTState) ->
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bvBlackBoard:set(i, 0, ID, BTState).
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-spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
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tick(#{id := ID, children := [ChildID], properties := #{max_loop := MaxLoop}} = _BTNode, BTState) ->
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I = bvBlackBoard:get(i, ID, BTState),
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{I1, BTStatus, BTState1} = doTick(MaxLoop, I, ChildID, ?BT_ERROR, BTState),
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BTState2 = bvBlackBoard:set(i, I1, ID, BTState1),
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{BTStatus, BTState2};
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tick(_BTNode, BTState) ->
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{?BT_ERROR, BTState}.
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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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bvBlackBoard:remove(i, ID, BTState).
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doTick(MaxLoop, I, ChildID, _BTStatus, BTState) when MaxLoop < 0 orelse I < MaxLoop ->
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case bvBaseNode:execute(ChildID, BTState) of
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{?BT_SUCCESS, BTState1} ->
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doTick(MaxLoop, I + 1, ChildID, ?BT_SUCCESS, BTState1);
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{BTStatus, BTState1} ->
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{I, BTStatus, BTState1}
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end;
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doTick(_MaxLoop, I, _ChildID, BTStatus, BTState) ->
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{I, BTStatus, BTState}.
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