25개 이상의 토픽을 선택하실 수 없습니다.
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
31 lines
1.0 KiB
31 lines
1.0 KiB
-module(mem_sequence).
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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, children := Children} = _BTNode, BTState) ->
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blackboard:set(running_children, Children, ID, BTState).
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-spec tick(bt_node(), bt_state()) -> {bt_status(), bt_state()}.
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tick(#{id := ID} = _BTNode, BTState) ->
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RunningChildren = blackboard:get(running_children, ID, BTState),
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tick_1(RunningChildren, ID, 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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blackboard:remove(running_children, ID, BTState).
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tick_1([ChildID | T] = Children, ID, BTState) ->
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case base_node:execute(ChildID, BTState) of
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{?BT_SUCCESS, BTState1} ->
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tick_1(T, ID, BTState1);
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{?BT_RUNNING, BTState1} ->
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BTState2 = blackboard:set(running_children, Children, ID, BTState1),
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{?BT_RUNNING, BTState2};
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{BTStatus, BTState1} ->
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{BTStatus, BTState1}
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end;
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tick_1([], _ID, BTState) ->
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{?BT_SUCCESS, BTState}.
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