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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 tasks goto_barcode_task.erl
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src/samples/tasks/goto_barcode_task.erl 

-module(goto_barcode_task).

-behavior(bt_task).

-export([

  get_params/0,

  run/3

]).



get_params() ->

  ["bid", "location"].



run(#{"bid" := BId_key, "location" := Location_key}, BB, _Event) ->

  BId = blackboard:eval(BId_key, BB),

  Location = blackboard:eval(Location_key, BB),

  case gproc:lookup_local_name({dummy_navigator, BId}) of

    undefined -> 

      io:format("Could not find navigator, failing...~n"),

      {failure, BB};

    Pid ->

      %% check if already there

      BLoc = dummy_navigator:get_location(Pid),

      if

        BLoc =:= Location ->

          % io:format("Butler ~p reached ~p~n", [BId, Location]),

          {success, BB};

        true ->

          io:format("sending butler ~p to ~p~n", [BId, Location]),

          dummy_navigator:goto_barcode(Pid, Location),

          {running, BB}

      end

  end.