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64 linhas
1.6 KiB
64 linhas
1.6 KiB
-ifndef(behavior3_h).
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-define(behavior3_h, true).
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-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]).
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-type bt_uid() :: reference().
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-define(BT_SUCCESS, 1).
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-define(BT_FAILURE, 2).
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-define(BT_RUNNING, 3).
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-define(BT_ERROR, 4).
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-type bt_status() :: ?BT_SUCCESS|?BT_FAILURE|?BT_RUNNING|?BT_ERROR.
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-type bt_node_id() :: string().
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-type bt_state() :: #{
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'$global_maps' => map(),
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'$local_maps' => map(),
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term() => term()
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}.
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-type properties() :: #{atom() => term()}.
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%% 未初始化的树节点
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-type uninit_bt_node() :: #{
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id => bt_node_id(),
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name => atom() | bt_node_id(),
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category => atom(),
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properties => properties(),
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children => [bt_node_id()]
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}.
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-type tree_nodes() :: #{bt_node_id() => uninit_bt_node()}.
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%% 行为树
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-type btree() :: #{
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id => bt_node_id(),
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root => bt_node_id(),
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properties => properties(),
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tree_nodes => tree_nodes()
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}.
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%% 行为树节点
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-type bt_node() :: #{
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id := bt_uid(),
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bt_node_id := bt_node_id(),
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parent_id := bt_uid(),
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name := atom(),
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category := atom(),
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properties := properties(),
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children := [bt_uid()]
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}.
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-define(BI_MOD_LIST, [
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error, failer, runner, succeeder, wait,
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mem_priority, mem_sequence, priority, sequence,
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inverter, limiter, max_time, repeat_until_failure, repeat_until_success, repeater
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]).
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-define(BT_LOG(Format), io:format("~w:~w:~w [debug] ~p: " ++ Format ++ "~n", tuple_to_list(time()) ++ [?MODULE])).
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-define(BT_LOG(Format, Args), io:format("~w:~w:~w [debug] ~p: " ++ Format ++ "~n", tuple_to_list(time()) ++ [?MODULE | Args])).
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-endif.
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