erlang_behaviour_trees

-module(bt_blackboard).
-export([
  get_empty/0,
  get_bb_key/2,
  is_set/2,
  %% not exporting read since eval is enough. otherwise its easy to make mistakes
  % read/3,
  write/3,
  promise/2,
  clear_namespace/2,
  eval/2,
  eval_with_default_fn/3,
  throw_error_fn/1
]).

-record(bb_key, {
  namespace :: list(string()),
  key :: string()
}).

-record(bb_promise, {
  args :: list(term()),
  promise_fn :: function()
}).

%% since implemented as map
get_empty() ->
  #{}.

get_bb_key(Namespace, Key) ->
  #bb_key{namespace = Namespace, key = Key}.

is_set(BBKey, Blackboard) when is_record(BBKey, bb_key) ->
  case maps:get(BBKey, Blackboard) of
    null -> false;
    {value, _} -> true
  end;
%% is not a key, hence set
is_set(_NotKey, _Blackboard) ->
  true.

read(BBKey, Blackboard, OnNull) when is_record(BBKey, bb_key), is_function(OnNull) ->
  case maps:get(BBKey, Blackboard) of
    null ->
      OnNull(BBKey);
    {value, Val} -> Val;
    ErrorVal ->
      ErrorReason = lists:flatten(io_lib:format("Incorrect value stored for key '~p' as '~p'~n", [BBKey, ErrorVal])),
      erlang:error(ErrorReason)
  end;
%% is not a key, so return it.
read(NotKey, _Blackboard, _OnNull) ->
  NotKey.

write(BBKey, Value, Blackboard) when is_record(BBKey, bb_key)->
  maps:put(BBKey, {value, Value}, Blackboard);
write(NotKey, _Value, _Blackboard) ->
  ErrorReason = lists:flatten(io_lib:format("Trying to write to ~p which is not a bb key~n", [NotKey])),
  erlang:error(ErrorReason).

%% make a promise that will be evaluated at runtime!
%% eg. from converting between coordinate and barcode, this can be used
%% to skip a conversion subtask.
promise(Args, PromiseFn) ->
  #bb_promise{
    args = Args,
    promise_fn = PromiseFn
  }.

%% set all keys within this namespace to null
%% sometimes namespace is undefined for a sequence/selector, in
%% that case do nothing.
clear_namespace(undefined, Blackboard) ->
  Blackboard;
clear_namespace(Namespace, Blackboard) ->
  BBAsProplist = maps:to_list(Blackboard),
  %% find stuff that is prefix of namespace and set value to null
  NewBBProplist = lists:map(
    fun({BBKey, BBVal}) ->
      BBNS = BBKey#bb_key.namespace,
      case lists:prefix(Namespace, BBNS) of
        true -> {BBKey, null};
        false -> {BBKey, BBVal}
      end
    end,
    BBAsProplist
  ),
  maps:from_list(NewBBProplist).

%% evaluation function!
%% input can be key, array of keys, tuple of keys, non-key 
eval(BBKey, Blackboard)->
  eval_internal(BBKey, Blackboard, fun bt_blackboard:throw_error_fn/1 ).

%% with function that returns default value in case bb key value is null
eval_with_default_fn(BBKey, Blackboard, OnNull)->
  eval_internal(BBKey, Blackboard, OnNull).

%% evaluate promise
eval_internal(BBPromise = #bb_promise{args = Args, promise_fn = PromiseFn}, Blackboard, OnNull) when is_record(BBPromise, bb_promise) ->
  EvaledArgs = eval_internal(Args, Blackboard, OnNull),
  erlang:apply(PromiseFn, EvaledArgs);
eval_internal(BBKey, Blackboard, OnNull) when is_record(BBKey, bb_key) ->
  read(BBKey, Blackboard, OnNull);
eval_internal(ListOfVals, Blackboard, OnNull) when is_list(ListOfVals) ->
  [eval_internal(X, Blackboard, OnNull) || X <- ListOfVals];
eval_internal(TupleOfVals, Blackboard, OnNull) when is_tuple(TupleOfVals) ->
  L = tuple_to_list(TupleOfVals),
  %% need to convert back to tuple too...
  L2 = eval_internal(L, Blackboard, OnNull),
  list_to_tuple(L2);
eval_internal(Native, _Blackboard, _OnNull) ->
  Native.

throw_error_fn(BBKey) ->
  ErrorReason = lists:flatten(io_lib:format("Trying to read uninitalized key '~p'~n", [BBKey])),
  erlang:error(ErrorReason).