core

package
v0.0.0-...-cd5cd87 Latest Latest
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 Go to latest Published: Jan 22, 2024 License: Apache-2.0 Imports: 19 Imported by: 0

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Index

Constants

View Source 
const (
	EXACTLY_ONCE = iota
	ONCE_UNLESS_WOKEN_UP
	WHILE_RUNNING
)

Variables

View Source 
var (
	DefaultNodeConfig = &NodeConfig{}
)
View Source 
var (
	ErrorsInvalidTag = errors.New("invalid tag")
)

Functions

func AssignDefaultRemapping 

func AssignDefaultRemapping(config *NodeConfig, value IGetProvidedPorts)

func ConvFromString 

func ConvFromString(str string, value any) error

func ConvertBoolFromString 

func ConvertBoolFromString(str string) bool

func ConvertFloat64FromString 

func ConvertFloat64FromString(str string) (res float64, err error)

func ConvertFloat64sFromString 

func ConvertFloat64sFromString(str string) (res []float64, err error)

func ConvertInt64FromString 

func ConvertInt64FromString(str string) (res int64, err error)

func ConvertInt64sFromString 

func ConvertInt64sFromString(str string) (res []int64, err error)

func GetRemappedKey 

func GetRemappedKey(portName string, remappedPort string) (res string, err error)

func IsAllowedPortName 

func IsAllowedPortName(str string) bool

func IsAlpha 

func IsAlpha(c uint8) bool

func IsBlackboardPointer 

func IsBlackboardPointer(str string) (res string, ok bool)

func IsPrivateKey 

func IsPrivateKey(str string) bool

func IsStatusCompleted 

func IsStatusCompleted(status NodeStatus) bool

func SetPorts 

func SetPorts(descType any, ps ...*PortInfo)

func StripBlackboardPointer 

func StripBlackboardPointer(str string) string

Types

type ActionNodeBase 

type ActionNodeBase struct {
	*LeafNode
}

func NewActionNodeBase 

func NewActionNodeBase(name string, config *NodeConfig) *ActionNodeBase

func (ActionNodeBase) NodeType 

func (ActionNodeBase) NodeType() NodeType

type BehaviorTreeFactory 

type BehaviorTreeFactory struct {
	Builders map[string]*NodeBuilder
	// contains filtered or unexported fields
}

func NewBehaviorTreeFactory 

func NewBehaviorTreeFactory() *BehaviorTreeFactory

func (*BehaviorTreeFactory) CreateTree 

func (f *BehaviorTreeFactory) CreateTree(treeName string) (*Tree, error)

func (*BehaviorTreeFactory) CreateTreeFromFile 

func (f *BehaviorTreeFactory) CreateTreeFromFile(file_path string) (*Tree, error)

func (*BehaviorTreeFactory) CreateTreeFromText 

func (f *BehaviorTreeFactory) CreateTreeFromText(text string) (*Tree, error)

func (*BehaviorTreeFactory) Init 

func (f *BehaviorTreeFactory) Init()

func (*BehaviorTreeFactory) InstantiateTreeNode 

func (f *BehaviorTreeFactory) InstantiateTreeNode(name, ID string, config *NodeConfig) (node ITreeNode, err error)

func (*BehaviorTreeFactory) RegisterBehaviorTreeFromFile 

func (f *BehaviorTreeFactory) RegisterBehaviorTreeFromFile(filename string) error

func (*BehaviorTreeFactory) RegisterBehaviorTreeFromText 

func (f *BehaviorTreeFactory) RegisterBehaviorTreeFromText(xml_text string) error

func (*BehaviorTreeFactory) RegisterNodeType 

func (f *BehaviorTreeFactory) RegisterNodeType(id string, cons NodeBuilderFn, args ...any)

func (*BehaviorTreeFactory) RegisterScriptingEnum 

func (f *BehaviorTreeFactory) RegisterScriptingEnum(name string, value int)

func (*BehaviorTreeFactory) RegisterSimpleAction 

func (f *BehaviorTreeFactory) RegisterSimpleAction(ID string, tickFunctor TickFunctor,
	ports ...*PortInfo)

func (*BehaviorTreeFactory) RegisterSimpleCondition 

func (f *BehaviorTreeFactory) RegisterSimpleCondition(
	ID string, tickFunctor TickFunctor,
	ports ...*PortInfo)

func (*BehaviorTreeFactory) RegisterSimpleDecorator 

func (f *BehaviorTreeFactory) RegisterSimpleDecorator(
	ID string, tickFunctor TickFunctor,
	ports ...*PortInfo)

func (*BehaviorTreeFactory) RegisteredBehaviorTrees 

func (f *BehaviorTreeFactory) RegisteredBehaviorTrees() []string

type Blackboard 

type Blackboard struct {
	// contains filtered or unexported fields
}

func NewBlackboard 

func NewBlackboard(parent *Blackboard) *Blackboard

func (*Blackboard) AddSubtreeRemapping 

func (n *Blackboard) AddSubtreeRemapping(internal, external string)

func (*Blackboard) Clear 

func (n *Blackboard) Clear()

func (*Blackboard) CreateEntry 

func (n *Blackboard) CreateEntry(key string, info *PortInfo) *Entry

func (*Blackboard) DebugMessage 

func (n *Blackboard) DebugMessage()

func (*Blackboard) Get 

func (n *Blackboard) Get(key string) any

func (*Blackboard) GetAnyLocked 

func (n *Blackboard) GetAnyLocked(key string) func() *Entry

func (*Blackboard) GetEntry 

func (n *Blackboard) GetEntry(key string) *Entry

func (*Blackboard) GetKeys 

func (n *Blackboard) GetKeys() (res []string)

func (*Blackboard) Set 

func (n *Blackboard) Set(key string, value any)

func (*Blackboard) Unset 

func (n *Blackboard) Unset(key string)

type CallableFunction 

type CallableFunction func(args ...any)

type ConditionNode 

type ConditionNode struct {
	*LeafNode
}

func NewConditionNode 

func NewConditionNode(name string, config *NodeConfig) *ConditionNode

func (*ConditionNode) Halt 

func (n *ConditionNode) Halt()

Do nothing

func (*ConditionNode) NodeType 

func (n *ConditionNode) NodeType() NodeType

type ControlNode 

type ControlNode struct {
	*TreeNode
	Children []ITreeNode
}

func NewControlNode 

func NewControlNode(name string, config *NodeConfig) *ControlNode

func (*ControlNode) AddChild 

func (n *ControlNode) AddChild(child ITreeNode)

func (*ControlNode) Halt 

func (n *ControlNode) Halt()

func (*ControlNode) HaltChild 

func (n *ControlNode) HaltChild(i int)

func (*ControlNode) HaltChildren 

func (n *ControlNode) HaltChildren()

func (*ControlNode) NodeType 

func (n *ControlNode) NodeType() NodeType

func (*ControlNode) ResetChildren 

func (n *ControlNode) ResetChildren()

type CoroActionNode 

type CoroActionNode struct {
	*ActionNodeBase
}

type DecoratorNode 

type DecoratorNode struct {
	*TreeNode
	// contains filtered or unexported fields
}

以自定义的方式修改孩子结点的行为。比如Invert类型的装饰结点，可以反转其孩子结点返回的状态信息。为了方便他人理解，应该尽可能使用比较常见的装饰结点。

func NewDecoratorNode 

func NewDecoratorNode(name string, config *NodeConfig) *DecoratorNode

func (*DecoratorNode) Child 

func (n *DecoratorNode) Child() ITreeNode

func (*DecoratorNode) ExecuteTick 

func (n *DecoratorNode) ExecuteTick() NodeStatus

func (*DecoratorNode) Halt 

func (n *DecoratorNode) Halt()

func (*DecoratorNode) HaltChild 

func (n *DecoratorNode) HaltChild()

func (*DecoratorNode) NodeType 

func (n *DecoratorNode) NodeType() NodeType

func (*DecoratorNode) ResetChild 

func (n *DecoratorNode) ResetChild()

func (*DecoratorNode) SetChild 

func (n *DecoratorNode) SetChild(child ITreeNode) error

type Entry 

type Entry struct {
	Value any
	// contains filtered or unexported fields
}

type IFromStr 

type IFromStr interface {
	FromString(str string) error
}

type IGetProvidedPorts 

type IGetProvidedPorts interface {
	GetProvidedPorts() map[string]*PortInfo
}

type IMetadata 

type IMetadata interface {
	Metadata() [][]string
}

type INodeType 

type INodeType interface {
	NodeType() NodeType
}

type IStatefulActionNode 

type IStatefulActionNode interface {
	OnStart() NodeStatus
	OnRunning() NodeStatus
	OnHalted()
}

type ITreeNode 

type ITreeNode interface {
	Tick() NodeStatus
	Config() *NodeConfig
	PreConditionsScripts() []ScriptFunction
	PostConditionsScripts() []ScriptFunction
	SetRegistrationID(ID string)

	NodeType() NodeType
	UID() uint16
	HaltNode()

	SetWakeUpInstance(instance *WakeUpSignal)
	ExecuteTick() NodeStatus
	ResetStatus()
	Status() NodeStatus
}

func NewSimpleActionNode 

func NewSimpleActionNode(name string, config *NodeConfig, args ...interface{}) ITreeNode

func NewSimpleConditionNode 

func NewSimpleConditionNode(name string, config *NodeConfig, args ...interface{}) ITreeNode

func NewSimpleDecoratorNode 

func NewSimpleDecoratorNode(name string,
	config *NodeConfig, args ...interface{}) ITreeNode

type LeafNode 

type LeafNode struct {
	*TreeNode
}

func NewLeafNode 

func NewLeafNode(name string, config *NodeConfig) *LeafNode

type NodeBuilder 

type NodeBuilder struct {
	Cons        NodeBuilderFn
	DefaultArgs []any //默认参数
	*TreeNodeManifest
}

type NodeBuilderFn 

type NodeBuilderFn func(name string, config *NodeConfig, args ...interface{}) ITreeNode //构造函数

type NodeConfig 

type NodeConfig struct {
	Blackboard     *Blackboard
	Enums          map[string]int
	InputPorts     map[string]string
	OutputPorts    map[string]string
	Manifest       *TreeNodeManifest
	Uid            uint16
	Path           string
	PreConditions  map[PreCond]string  //有序
	PostConditions map[PostCond]string //有序

}

type NodeStatus 

type NodeStatus int
const (
	NodeStatus_IDLE NodeStatus = iota
	NodeStatus_RUNNING
	NodeStatus_SUCCESS
	NodeStatus_FAILURE
	NodeStatus_SKIPPED
)

func (*NodeStatus) FromString 

func (n *NodeStatus) FromString(str string) error

func (NodeStatus) IsActive 

func (n NodeStatus) IsActive() bool

func (NodeStatus) IsCompleted 

func (n NodeStatus) IsCompleted() bool

func (*NodeStatus) String 

func (n *NodeStatus) String() string

func (*NodeStatus) StringColor 

func (n *NodeStatus) StringColor(colored bool) string

type NodeType 

type NodeType int
const (
	NodeType_UNDEFINED NodeType = iota
	NodeType_ACTION
	NodeType_CONDITION
	NodeType_SUBTREE
	NodeType_DECORATOR
	NodeType_CONTROL
)

func (*NodeType) FromString 

func (p *NodeType) FromString(str string) error

func (*NodeType) String 

func (p *NodeType) String() string

type Parser 

type Parser interface {
	LoadFromFile(fileName string, addIncludes ...bool) error
	LoadFromText(xmlText string, addIncludes ...bool) error
	RegisteredBehaviorTrees() []string
	InstantiateTree(rootBlackboard *Blackboard, mainTreeId string) (tree *Tree, err error)
	ClearInternalState()
}

func NewXmlParser 

func NewXmlParser() Parser

type PortDirection 

type PortDirection int
const (
	PortDirection_INPUT PortDirection = iota
	PortDirection_OUTPUT
	PortDirection_INOUT
)

func (*PortDirection) FromString 

func (p *PortDirection) FromString(str string) error

func (*PortDirection) String 

func (p *PortDirection) String() string

type PortInfo 

type PortInfo struct {
	Name string
	// contains filtered or unexported fields
}

func BidirectionalPort 

func BidirectionalPort(name string, desc ...string) *PortInfo

func BidirectionalPortWithDefaultValue 

func BidirectionalPortWithDefaultValue(name string, defaultValue any, desc ...string) *PortInfo

func GetPorts 

func GetPorts(name string) (res *PortInfo, ok bool)

func InputPort 

func InputPort(name string, desc ...string) *PortInfo

func InputPortWithDefaultValue 

func InputPortWithDefaultValue(name string, defaultValue any, desc ...string) *PortInfo

func NewPortInfo 

func NewPortInfo(direction PortDirection, name string, desc ...string) *PortInfo

func OutPort 

func OutPort(name string, desc ...string) *PortInfo

func OutputPortWithDefaultValue 

func OutputPortWithDefaultValue(name string, defaultValue any, desc ...string) *PortInfo

func (*PortInfo) DefaultValue 

func (p *PortInfo) DefaultValue() any

func (*PortInfo) DefaultValueString 

func (p *PortInfo) DefaultValueString() string

func (*PortInfo) Description 

func (p *PortInfo) Description() string

func (*PortInfo) Direction 

func (p *PortInfo) Direction() PortDirection

func (*PortInfo) SetDefaultValue 

func (p *PortInfo) SetDefaultValue(value any)

func (*PortInfo) SetDescription 

func (p *PortInfo) SetDescription(description string)

type PostCond 

type PostCond int
const (
	// order of the enums also tell us the execution order
	PostCond_ON_HALTED PostCond = iota
	PostCond_ON_FAILURE
	PostCond_ON_SUCCESS
	PostCond_ALWAYS
	PostCond_COUNT_
)

func (PostCond) String 

func (p PostCond) String() string

type PostTickCallback 

type PostTickCallback func(node *TreeNode, status NodeStatus) NodeStatus

type PreCond 

type PreCond int
const (
	// order of the enums also tell us the execution order
	PreCond_FAILURE_IF PreCond = iota
	PreCond_SUCCESS_IF
	PreCond_SKIP_IF
	PreCond_WHILE_TRUE
	PreCond_COUNT_
)

func (PreCond) String 

func (p PreCond) String() string

type PreTickCallback 

type PreTickCallback func(node *TreeNode) NodeStatus

type ProtectedQueue 

type ProtectedQueue struct {
	Items list.List
	Mtx   sync.Mutex
}

type ScriptFunction 

type ScriptFunction func(args ...interface{}) bool

func ParseScript 

func ParseScript(s string) (ScriptFunction, error)

type Signal 

type Signal struct {
	// contains filtered or unexported fields
}

func NewSignal 

func NewSignal() *Signal

func (*Signal) Notify 

func (c *Signal) Notify(args ...any)

func (*Signal) Subscribe 

func (c *Signal) Subscribe(fn CallableFunction) CallableFunction

type SimpleActionNode 

type SimpleActionNode struct {
	*SyncActionNode
	// contains filtered or unexported fields
}

func (*SimpleActionNode) Tick 

func (n *SimpleActionNode) Tick() NodeStatus

type SimpleConditionNode 

type SimpleConditionNode struct {
	*ConditionNode
	// contains filtered or unexported fields
}

func (*SimpleConditionNode) Tick 

func (s *SimpleConditionNode) Tick() NodeStatus

type SimpleDecoratorNode 

type SimpleDecoratorNode struct {
	*DecoratorNode
	// contains filtered or unexported fields
}

func (*SimpleDecoratorNode) Tick 

func (n *SimpleDecoratorNode) Tick() NodeStatus

type SortMap 

type SortMap[T1 cmp.Ordered, T2 any] struct {
	// contains filtered or unexported fields
}

func NewSortMap 

func NewSortMap[T1 cmp.Ordered, T2 any]() *SortMap[T1, T2]

func (*SortMap[T1, T2]) Delete 

func (s *SortMap[T1, T2]) Delete(key T1)

func (*SortMap[T1, T2]) Front 

func (s *SortMap[T1, T2]) Front() (value T2, ok bool)

func (*SortMap[T1, T2]) Get 

func (s *SortMap[T1, T2]) Get(key T1) (value T2, ok bool)

func (*SortMap[T1, T2]) Range 

func (s *SortMap[T1, T2]) Range(fn func(key T1, value T2) (stop bool))

func (*SortMap[T1, T2]) Reset 

func (s *SortMap[T1, T2]) Reset()

func (*SortMap[T1, T2]) Set 

func (s *SortMap[T1, T2]) Set(key T1, value T2)

type StatefulActionNode 

type StatefulActionNode struct {
	*ActionNodeBase
	IStatefulActionNode
	// contains filtered or unexported fields
}

func NewStatefulActionNode 

func NewStatefulActionNode(name string, config *NodeConfig) *StatefulActionNode

func (*StatefulActionNode) Halt 

func (n *StatefulActionNode) Halt()

func (*StatefulActionNode) IsHaltRequested 

func (n *StatefulActionNode) IsHaltRequested() bool

func (*StatefulActionNode) Tick 

func (n *StatefulActionNode) Tick() NodeStatus

type Subtree 

type Subtree struct {
	TreeId       string
	InstanceName string
	Blackboard   *Blackboard
	Nodes        []ITreeNode
	Subtree      *Subtree
}

type SubtreeModel 

type SubtreeModel struct {
	// contains filtered or unexported fields
}

type SyncActionNode 

type SyncActionNode struct {
	*ActionNodeBase
}

func NewSyncActionNode 

func NewSyncActionNode(name string, config *NodeConfig) *SyncActionNode

func (*SyncActionNode) ExecuteTick 

func (s *SyncActionNode) ExecuteTick() NodeStatus

type TestNodeConfig 

type TestNodeConfig struct {
	Id string
	/// status to return when the action is completed
	ReturnStatus NodeStatus
	/// script to execute when actions is completed
	PostScript string
	//毫秒
	AsyncDelay time.Duration
	PreFunc    func()
	PostFunc   func()
}

func NewTestNodeConfig 

func NewTestNodeConfig() *TestNodeConfig

type ThreadedAction 

type ThreadedAction struct {
	*ActionNodeBase
	// contains filtered or unexported fields
}

func NewThreadedAction 

func NewThreadedAction(name string, config *NodeConfig) *ThreadedAction

func (*ThreadedAction) ExecuteTick 

func (n *ThreadedAction) ExecuteTick() NodeStatus

This method spawn a new thread. Do NOT remove the "final" keyword.

func (*ThreadedAction) Halt 

func (n *ThreadedAction) Halt()

func (*ThreadedAction) IsHaltRequested 

func (n *ThreadedAction) IsHaltRequested() bool

type TickFunctor 

type TickFunctor func(node ITreeNode, status ...NodeStatus) NodeStatus

type TickOption 

type TickOption int

type Tree 

type Tree struct {
	Subtrees []*Subtree
	// contains filtered or unexported fields
}

func NewTree 

func NewTree() *Tree

func (*Tree) GetUID 

func (t *Tree) GetUID() uint16

func (*Tree) Init 

func (t *Tree) Init()

func (*Tree) Root 

func (t *Tree) Root() ITreeNode

func (*Tree) Sleep 

func (t *Tree) Sleep(timeout time.Duration)

func (*Tree) TickExactlyOnce 

func (t *Tree) TickExactlyOnce() NodeStatus

func (*Tree) TickOnce 

func (t *Tree) TickOnce() NodeStatus

func (*Tree) TickRoot 

func (t *Tree) TickRoot(opt TickOption, sleepTime time.Duration) NodeStatus

func (*Tree) TickWhileRunning 

func (t *Tree) TickWhileRunning(sleepTimes ...time.Duration) NodeStatus

type TreeNode 

type TreeNode struct {
	// contains filtered or unexported fields
}

func NewTreeNode 

func NewTreeNode(name string, cfg *NodeConfig) *TreeNode

func (*TreeNode) Config 

func (n *TreeNode) Config() *NodeConfig

func (*TreeNode) EmitWakeUpSignal 

func (n *TreeNode) EmitWakeUpSignal()

func (*TreeNode) ExecuteTick 

func (n *TreeNode) ExecuteTick() NodeStatus

func (*TreeNode) FullPath 

func (n *TreeNode) FullPath() string

func (*TreeNode) GetInput 

func (n *TreeNode) GetInput(key string, destination any) (res any, err error)

func (*TreeNode) GetLockedPortContent 

func (n *TreeNode) GetLockedPortContent(key string) func() *Entry

func (*TreeNode) GetRawPortValue 

func (n *TreeNode) GetRawPortValue(key string) string

func (*TreeNode) Halt 

func (n *TreeNode) Halt()

/ The method used to interrupt the execution of a RUNNING node. / Only Async nodes that may return RUNNING should implement it.

func (*TreeNode) HaltNode 

func (n *TreeNode) HaltNode()

func (*TreeNode) ModifyPortsRemapping 

func (n *TreeNode) ModifyPortsRemapping(newRemapping map[string]string)

func (*TreeNode) Name 

func (n *TreeNode) Name() string

func (*TreeNode) PostConditionsScripts 

func (n *TreeNode) PostConditionsScripts() []ScriptFunction

func (*TreeNode) PreConditionsScripts 

func (n *TreeNode) PreConditionsScripts() []ScriptFunction

func (*TreeNode) RequiresWakeUp 

func (n *TreeNode) RequiresWakeUp() bool

func (*TreeNode) ResetStatus 

func (n *TreeNode) ResetStatus()

func (*TreeNode) SetOutput 

func (n *TreeNode) SetOutput(key string, value any)

func (*TreeNode) SetPostTickFunction 

func (n *TreeNode) SetPostTickFunction(callback func(node *TreeNode, status NodeStatus) NodeStatus)

func (*TreeNode) SetPreTickFunction 

func (n *TreeNode) SetPreTickFunction(callback func(node *TreeNode) NodeStatus)

func (*TreeNode) SetRegistrationID 

func (n *TreeNode) SetRegistrationID(ID string)

func (*TreeNode) SetStatus 

func (n *TreeNode) SetStatus(status NodeStatus)

func (*TreeNode) SetWakeUpInstance 

func (n *TreeNode) SetWakeUpInstance(instance *WakeUpSignal)

func (*TreeNode) Status 

func (n *TreeNode) Status() NodeStatus

func (*TreeNode) Tick 

func (n *TreeNode) Tick() NodeStatus

func (*TreeNode) UID 

func (n *TreeNode) UID() uint16

type TreeNodeManifest 

type TreeNodeManifest struct {
	Type           NodeType
	RegistrationID string
	Ports          map[string]*PortInfo
	Metadata       []map[string]string
}

func NewTreeNodeManifest 

func NewTreeNodeManifest(value any) *TreeNodeManifest

type WakeUpSignal 

type WakeUpSignal struct {
	// contains filtered or unexported fields
}

func NewWakeUpSignal 

func NewWakeUpSignal() *WakeUpSignal

func (*WakeUpSignal) EmitSignal 

func (s *WakeUpSignal) EmitSignal()

func (*WakeUpSignal) WaitFor 

func (s *WakeUpSignal) WaitFor(usec time.Duration) bool

type XmlTag 

type XmlTag struct {
	Children []*XmlTag
	// contains filtered or unexported fields
}

func (*XmlTag) GetAttr 

func (p *XmlTag) GetAttr(key string) string

func (*XmlTag) GetAttrs 

func (p *XmlTag) GetAttrs() (res []xml.Attr)

func (*XmlTag) IsTag 

func (p *XmlTag) IsTag(key string) bool

func (*XmlTag) TagName 

func (p *XmlTag) TagName() string

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