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erlang_behaviour_trees

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An implementation of behaviour trees in erlang.

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erlang_behaviour_trees src samples processes butler_functions.erl
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src/samples/processes/butler_functions.erl 

-module(butler_functions).

-export([

  butler_nav_pid/1,

  rack_loc_pid/1,

  get_rack_location/1,

  get_butler_location/1,

  get_butler_status/1,

  set_butler_lift_down/1,

  set_butler_lift_up/1,

  teleport_butler/2,

  lift_already_up/1,

  lift_already_down/1,

  rack_already_at_location/2,

  rack_already_at_pps/2,

  butler_already_at_location/2,

  gen_random_barcode/0

]).



butler_nav_pid(BId) ->

  gproc:lookup_local_name({dummy_navigator, BId}).



rack_loc_pid(RId) ->

  gproc:lookup_local_name({dummy_rack_location_service, RId}).



%% helpers for getting/modifying butler/rack state

get_rack_location(RId) ->

  dummy_rack_location_service:get_rack_location(rack_loc_pid(RId)).



get_butler_location(BId) ->

  dummy_navigator:get_location(butler_nav_pid(BId)).



get_butler_status(BId) ->

  Pid = butler_nav_pid(BId),

  {dummy_navigator:get_location(Pid), dummy_navigator:get_lift_state(Pid)}.



set_butler_lift_down(BId) ->

  dummy_navigator:lift(butler_nav_pid(BId), down).



set_butler_lift_up(BId) ->

  dummy_navigator:lift(butler_nav_pid(BId), up).



teleport_butler(BId, Location) ->

  dummy_navigator:teleport_butler(butler_nav_pid(BId), Location).



lift_state(BId) ->

  dummy_navigator:get_lift_state(butler_nav_pid(BId)).

lift_already_up(BId) ->

  lift_state(BId) =:= up.

lift_already_down(BId) ->

  lift_state(BId) =:= down.



rack_already_at_location(RId, RackDestination) ->

  get_rack_location(RId) =:= RackDestination.



rack_already_at_pps(RId, _PPSId) ->

  %% just assume pps is at 003.002...

  rack_already_at_location(RId, "003.002").



butler_already_at_location(BId, Location) ->

  get_butler_location(BId) =:= Location.



%% private

%% eg 050, 021 etc. min is 050

gen_random_3_digit_string() ->

  "0" ++ erlang:float_to_list(rand:uniform()*50+20, [{decimals, 0}]).



%% public

gen_random_barcode() ->

  gen_random_3_digit_string() ++ "." ++ gen_random_3_digit_string().