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215 行
7.3 KiB
215 行
7.3 KiB
-module(behavior_tree).
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-compile([inline, {inline_size, 100}]).
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%%--------------------------------------------------------------------
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%% include
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%%--------------------------------------------------------------------
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-include("behavior3.hrl").
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%%--------------------------------------------------------------------
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%% export API
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%%--------------------------------------------------------------------
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-export([
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load_tree_file/1,
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init_btree_by_title/4, init_btree/3,
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execute/2, execute_child/2, close_btree_node/2, unload_btree/1
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]).
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%% Internal API
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-export([get_btree_id_by_title/2, get_btree/2, get_btree_node/2]).
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%%--------------------------------------------------------------------
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%% API functions
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%%--------------------------------------------------------------------
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%% @doc
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%% 载入行为树文件
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-spec load_tree_file(file:name_all()) -> {#{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()}|{error, term()}.
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load_tree_file(JsonConfig) ->
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case file:read_file(JsonConfig) of
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{ok, Json} ->
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JsonTerm = jsx:decode(Json, [return_maps]),
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parse_btree(JsonTerm);
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{error, Reason} ->
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?BT_LOG("Error:~w Reason:~w JsonConfig:~w", [error, Reason, JsonConfig]),
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{error, Reason}
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end.
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%% @doc
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%% 获取行为树根节点id
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-spec get_btree_id_by_title(string(), #{string() => bt_node_id()}) -> bt_node_id()|undefined.
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get_btree_id_by_title(Title, TitleMaps) ->
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case TitleMaps of
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#{Title := ID} ->
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ID;
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#{} ->
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undefined
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end.
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%% @doc
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%% 获取行为树根节点
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-spec get_btree(bt_node_id(), #{bt_node_id() => btree()}) -> btree()|undefined.
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get_btree(BTNodeID, TreeMaps) ->
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case TreeMaps of
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#{BTNodeID := BTree} ->
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BTree;
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#{} ->
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undefined
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end.
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%% @doc
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%% 获取行为树子节点
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-spec get_btree_node(bt_node_id(), tree_nodes()) -> uninit_bt_node()|undefined.
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get_btree_node(BTNodeID, TreeNodeMaps) ->
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case TreeNodeMaps of
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#{BTNodeID := BTNode} ->
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BTNode;
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#{} ->
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undefined
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end.
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%% @doc
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%% 根据给定节点名初始化整颗行为树
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-spec init_btree_by_title(string(), #{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()) -> {ok, bt_uid()}|{error, term()}.
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init_btree_by_title(Title, TitleMaps, TreeMaps, TreeNodeMaps) ->
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BTNodeID = get_btree_id_by_title(Title, TitleMaps),
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init_btree(BTNodeID, TreeMaps, TreeNodeMaps).
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%% @doc
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%% 根据给定节点初始化整颗行为树
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-spec init_btree(bt_node_id(), #{bt_node_id() => btree()}, tree_nodes()) -> {ok, bt_uid()}|{error, term()}.
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init_btree(BTNodeID, TreeMaps, TreeNodeMaps) ->
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#{root := Root} = behavior_tree:get_btree(BTNodeID, TreeMaps),
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#{id := NodeID} = behavior_tree:get_btree_node(Root, TreeNodeMaps),
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base_node:do_init(undefined, NodeID, TreeMaps, TreeNodeMaps).
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%% @doc
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%% 执行行为树节点
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-spec execute(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
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execute(NodeID, BTState) ->
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BTState1 = blackboard:init_maps_keys(BTState),
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case base_node:execute(NodeID, BTState1) of
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{?BT_RUNNING, BTState2} ->
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{?BT_RUNNING, BTState2};
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{BTStatus, BTState2} ->
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BTState3 = blackboard:erase_btree(BTState2),
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{BTStatus, BTState3}
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end.
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%% @doc
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%% 动态执行子节点
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-spec execute_child(bt_uid(), bt_state()) -> {bt_status(), bt_state()}.
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execute_child(NodeID, BTState) ->
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base_node:execute(NodeID, BTState).
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%% @doc
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%% 强制关闭指定节点下的所有子节点
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-spec close_btree_node(bt_uid(), bt_state()) -> bt_state().
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close_btree_node(NodeID, BTState) ->
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BTState1 = do_close_btree_node(NodeID, BTState),
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blackboard:erase_btree(BTState1).
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%% @doc
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%% 卸载指定节点下的所有子节点
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-spec unload_btree(bt_uid()) -> ok.
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unload_btree(NodeID) ->
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do_unload_btree_node(NodeID).
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%%--------------------------------------------------------------------
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%% Internal functions
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%%--------------------------------------------------------------------
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%% 解析行为树
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-spec parse_btree(map()) -> {#{string() => bt_node_id()}, #{bt_node_id() => btree()}, tree_nodes()}.
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parse_btree(#{<<"trees">> := Trees}) ->
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parse_btree_1(Trees, #{}, #{}, #{}).
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parse_btree_1([Node | T], TitleMaps, TreeMaps, TreeNodeMaps) ->
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#{<<"id">> := ID, <<"title">> := Title, <<"root">> := Root, <<"nodes">> := Nodes} = Node,
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Iterator = maps:iterator(Nodes),
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{TreeNodes, TreeNodeMaps1} = parse_btree_node(maps:next(Iterator), #{}, TreeNodeMaps),
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BTree = #{
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id => ID,
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root => Root,
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properties => parse_properties(Node),
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tree_nodes => TreeNodes
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},
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parse_btree_1(T, TitleMaps#{Title => ID}, TreeMaps#{ID => BTree}, TreeNodeMaps1);
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parse_btree_1([], TitleMaps, TreeMaps, TreeNodeMaps) ->
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{TitleMaps, TreeMaps, TreeNodeMaps}.
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%% 解析树节点
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-spec parse_btree_node({bt_node_id(), map(), maps:iterator()}|none, tree_nodes(), tree_nodes()) -> {tree_nodes(), tree_nodes()}.
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parse_btree_node({ID, Node, NextIterator}, TreeNodes, TreeNodeMaps) ->
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#{<<"name">> := Name, <<"category">> := Category} = Node,
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case Category of
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<<"tree">> ->
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Name1 = Name;
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_ ->
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Name1 = name_convert(Name)
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end,
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TreeNode = #{
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id => ID,
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name => Name1,
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category => binary_to_atom(Category, utf8),
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properties => parse_properties(Node),
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children => parse_children(Node)
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},
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parse_btree_node(maps:next(NextIterator), TreeNodes#{ID => TreeNode}, TreeNodeMaps#{ID => TreeNode});
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parse_btree_node(none, TreeNodes, TreeNodeMaps) ->
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{TreeNodes, TreeNodeMaps}.
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%% 解析子节点属性数据，
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%% key会转为下划线分割小写atom，value保持不变
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-spec parse_properties(map()) -> properties().
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parse_properties(#{<<"properties">> := Properties} = _Node) ->
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Fun = fun(K, V, Map) -> Map#{name_convert(K) => V} end,
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maps:fold(Fun, #{}, Properties).
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%% 解析子节点
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-spec parse_children(map()) -> [bt_node_id()].
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parse_children(#{<<"child">> := Child} = _Node) ->
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[Child];
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parse_children(#{<<"children">> := Children} = _Node) ->
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Children;
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parse_children(_Node) ->
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[].
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%% 模块名转换
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%% 例：PlayerID -> player_id Name -> name
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-spec name_convert(unicode:chardata()) -> atom().
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name_convert(Name) ->
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case name_convert_1(Name) of
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<<"_"/utf8, NewName/binary>> ->
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binary_to_atom(NewName, utf8);
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NewName ->
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binary_to_atom(NewName, utf8)
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end.
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name_convert_1(<<C/utf8, Other/binary>>) when $A =< C, C =< $Z ->
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Other1 = name_convert_1(Other),
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<<"_"/utf8, (C + 32)/utf8, Other1/binary>>;
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name_convert_1(<<C/utf8, Other/binary>>) ->
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Other1 = name_convert_1(Other),
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<<C/utf8, Other1/binary>>;
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name_convert_1(<<>>) ->
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<<>>.
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%% 执行关闭行为树节点
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-spec do_close_btree_node(bt_uid(), bt_state()) -> bt_state().
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do_close_btree_node(NodeID, BTState) ->
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BTNode = blackboard:get_btree_node(NodeID),
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base_node:do_close(BTNode, BTState).
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%% 执行卸载行为树节点
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-spec do_unload_btree_node(bt_uid()) -> ok.
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do_unload_btree_node(NodeID) ->
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#{children := Children} = blackboard:get_btree_node(NodeID),
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do_unload_btree_node_1(Children),
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blackboard:erase_btree_node(NodeID),
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ok.
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do_unload_btree_node_1([NodeID | T]) ->
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do_unload_btree_node(NodeID),
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do_unload_btree_node_1(T);
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do_unload_btree_node_1([]) ->
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ok.
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