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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 bt_engine runners bt_runner.erl
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src/bt_engine/runners/bt_runner.erl 

-module(bt_runner).

-include("../bt_node_behaviours/bt_nodes.hrl").

-export([

  run/3,

  preempt/3,

  clear_metadata/1

]).



%% clear metadata before running the node, then add it again based on result.

%% better to do it here instead of individual handling in node runners

%% just setting status for new, maybe will add rest of the stuff later on.

-spec run(

  Node :: bt_node(),

  BB :: blackboard(), 

  Event :: event()) -> {Status :: status(), NewNode :: bt_node(), NewBB :: blackboard()}.

run(Node, BB, Event) when is_record(Node, sequence) ->

  {Status, NewNode, NewBB} = run_sequence:run(Node#sequence{metadata = undefined}, BB, Event),

  {Status, NewNode#sequence{metadata = #metadata{status = Status}}, NewBB};

run(Node, BB, Event) when is_record(Node, decorator) ->

  {Status, NewNode, NewBB} = run_decorator:run(Node#decorator{metadata = undefined}, BB, Event),

  {Status, NewNode#decorator{metadata = #metadata{status = Status}}, NewBB};

run(Node, BB, Event) when is_record(Node, task) ->

  {Status, NewNode, NewBB} = run_task:run(Node#task{metadata = undefined}, BB, Event),

  {Status, NewNode#task{metadata = #metadata{status = Status}}, NewBB}.



%% set metadata to undefined for all preempted nodes. actually no? because we sometimes run and preempt the same node

%% in one cycle

-spec preempt(

  Node :: bt_node(), 

  BB :: blackboard(), 

  ShouldCleanBB :: boolean()) -> {NewNode :: bt_node(), NewBB :: blackboard()}.

preempt(Node, BB, ShouldCleanBB) when is_record(Node, sequence) ->

  run_sequence:preempt(Node, BB, ShouldCleanBB);

preempt(Node, BB, ShouldCleanBB) when is_record(Node, decorator) ->

  run_decorator:preempt(Node, BB, ShouldCleanBB);

preempt(Node, BB, ShouldCleanBB) when is_record(Node, task) ->

  run_task:preempt(Node, BB, ShouldCleanBB).





%% defining clear metadata together for all nodes here only...

-spec clear_metadata(

  Node :: bt_node()

) -> NewNode :: bt_node().

clear_metadata(Node) when is_record(Node, sequence) ->

  Node#sequence{metadata = undefined, children = [clear_metadata(Child) || Child <- Node#sequence.children]};

clear_metadata(Node) when is_record(Node, decorator) ->

  Node#decorator{metadata = undefined, child = clear_metadata(Node#decorator.child)};

clear_metadata(Node) when is_record(Node, task) ->

  Node#task{metadata = undefined}.