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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 erl_parser erl_parse_sequence.erl
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src/bt_engine/erl_parser/erl_parse_sequence.erl 

-module(erl_parse_sequence).

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

-export([

  parse/3

]).



get_child_and_blackboard({Child, Idx}, Namespace, BB) ->

  IdxString = integer_to_list(Idx),

  ChildNamespace = bt_parser_utils:get_namespace(Namespace, IdxString),

  bt_erl_parser:parse(Child, ChildNamespace, BB).





-spec parse(Node :: bt_node(), Namespace :: namespace(), BB :: blackboard()) -> {Node :: bt_node(), NewBB :: blackboard()}.

parse(Sequence = #sequence{children = Children}, Namespace, BB) when is_record(Sequence, sequence) ->

  %% parse the children with their own namespaces.

  ChildrenBBPairs = [

    get_child_and_blackboard(X, Namespace, BB) 

    || X <- lists:zip(Children, lists:seq(1, length(Children)))],

  %% merge all the blackboards

  NewBB = lists:foldl(

    fun({_ChildTree, ChildBB}, Acc) -> maps:merge(ChildBB, Acc) end,

    BB,

    ChildrenBBPairs

  ),

  ChildrenTrees = [X || {X, _} <- ChildrenBBPairs],

  {Sequence#sequence{children = ChildrenTrees, namespace = Namespace}, NewBB}.