bcore

package
v1.1.29 Latest Latest
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 Go to latest Published: Oct 17, 2025 License: MIT Imports: 17 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	CategoryComposite = "composite" // 组合节点
	CategoryDecorator = "decorator" // 组合节点
	CategoryTask      = "task"      // 组合节点
)

节点类别

View Source 
const (
	NodeNameRoot           = "Root"
	NodeNameSubtree        = "Subtree"
	NodeNameDynamicSubtree = "DynamicSubtree"
)

节点名称

View Source 
const DefaultInterval = time.Millisecond * 50 // 行为树默认更新间隔

Variables

View Source 
var ErrBlackboardAlreadyStarted = stderr.New("blackboard already started")
View Source 
var ErrBlackboardAlreadyStopped = stderr.New("blackboard already stopped")
View Source 
var ErrConvertGenericType = errors.New("convert generic type error")

Functions

func ConvertAnyValue 

func ConvertAnyValue[T any](v any, ok bool) (T, bool)

ConvertAnyValue [T any] 转换 any 类型的值为传入的范型,一般配合map使用 

@param v 值
@param ok 值是否有效
@return T
@return bool

func LogWithUpstream added in v1.1.2 

func LogWithUpstream(brain IBrain, logg *zap.Logger) *zap.Logger

func MapValue 

func MapValue[T any](m Memory, key string) (T, bool)

MapValue [T any] 从 Memory 中获取值 

@param m
@param key
@return T
@return bool

func Print 

func Print(node INode, brain IBrain)

Types

type AbortMode 

type AbortMode int

AbortMode 中断模式 

const (
	AbortModeNone          AbortMode = iota // 不中止执行
	AbortModeSelf                           // 当条件不满足时，中断修饰的节点所在分支，执行比修饰的节点优先级更低的分支
	AbortModeLowerPriority                  // 当条件满足时，中断比修饰的节点优先级更低的分支，执行所在分支
	AbortModeBoth                           // 两种情况都中断: AbortModeSelf && AbortModeLowerPriority
)

type BaseProperties 

type BaseProperties struct{}

BaseProperties 属性基类

type Blackboard 

type Blackboard struct {
	// contains filtered or unexported fields
}

Blackboard 

@implement IBlackboard
@implement IBlackboardInternal
get和set为线程安全,其他方法均为非线程安全,请在树自己的线程内调用
黑板的[生命周期调用,监听添加移除,监听函数的执行]必须派发到AI独立线程
黑板的kv读写可以在任意线程
黑板为树形结构,实例化时可指定父黑板,将继承父黑板的KV.父黑板,一般来说是AI集群的共享黑板。想实现AI间通信时这将很有用.

func NewBlackboard 

func NewBlackboard(threadID int, parent *Blackboard) *Blackboard

NewBlackboard 实例化一个黑板 

@param threadID AI工作线程ID
@param parent 父黑板,一般来说是AI集群的共享黑板
@return *Blackboard

func (*Blackboard) AddObserver 

func (b *Blackboard) AddObserver(key string, observer Observer)

AddObserver 非线程安全,请在树自己的线程内调用 

@implement IBlackboardInternal.AddObserver
@receiver b
@param key
@param observer

func (*Blackboard) Del 

func (b *Blackboard) Del(key string)

Del 

@implement IBlackboard.Del
@receiver b
@param key

func (*Blackboard) Get 

func (b *Blackboard) Get(key string) (any, bool)

Get 

@implement IBlackboard.Get
@receiver b
@param key
@return any
@return bool

func (*Blackboard) GetDuration 

func (b *Blackboard) GetDuration(key string) (time.Duration, bool)

GetDuration 

@implement IBlackboard.GetDuration
@receiver b
@param key
@return time.Duration
@return bool

func (*Blackboard) NodeExt 

func (b *Blackboard) NodeExt(nodeID string) Memory

NodeExt 

@implement IBlackboardInternal.NodeExt
@receiver b
@param nodeID
@return Memory

func (*Blackboard) NodeMemory 

func (b *Blackboard) NodeMemory(nodeID string) *NodeMemory

NodeMemory 

@implement IBlackboardInternal.NodeMemory
@receiver b
@param nodeID
@return *NodeMemory

func (*Blackboard) RemoveObserver 

func (b *Blackboard) RemoveObserver(key string, observer Observer)

RemoveObserver 非线程安全,请在树自己的线程内调用 

@implement IBlackboardInternal.RemoveObserver
@receiver b
@param key
@param observer

func (*Blackboard) Set 

func (b *Blackboard) Set(key string, val any)

Set 

@implement IBlackboard.Set
@receiver b
@param key
@param val

func (*Blackboard) Start 

func (b *Blackboard) Start()

Start 

@implement IBlackboardInternal.Start
@receiver b

func (*Blackboard) Stop 

func (b *Blackboard) Stop()

Stop 

@implement IBlackboardInternal.Stop
@receiver b

func (*Blackboard) ThreadID 

func (b *Blackboard) ThreadID() int

func (*Blackboard) TreeMemory 

func (b *Blackboard) TreeMemory(rootID string) Memory

TreeMemory 

@implement IBlackboardInternal.TreeMemory
@receiver b
@param rootID
@return Memory

type Composite 

type Composite struct {
	Container
	// contains filtered or unexported fields
}

Composite 复合节点基类 

@implement IComposite

func (*Composite) AbortLowerPriorityChildrenForChild 

func (c *Composite) AbortLowerPriorityChildrenForChild(brain IBrain, childAbortBy INode)

AbortLowerPriorityChildrenForChild panic实现不可继承,子类须自行实现 IComposite.AbortLowerPriorityChildrenForChild 

@receiver c
@param childAbortBy

func (*Composite) AddChild 

func (c *Composite) AddChild(child INode)

func (*Composite) AddChildren 

func (c *Composite) AddChildren(children []INode)

func (*Composite) Children 

func (c *Composite) Children() []INode

func (*Composite) Finish 

func (c *Composite) Finish(brain IBrain, succeeded bool)

Finish 

@override Node.Finish
@receiver n
@param brain
@param succeeded

func (*Composite) SetRoot 

func (c *Composite) SetRoot(brain IBrain, root IRoot)

SetRoot 

@override Node.SetRoot
@receiver n
@param root

type Container 

type Container struct {
	Node
	IContainerWorker
}

Container 容器基类 

@implement IContainer
@implement IContainerWorker

func (*Container) ChildFinished 

func (c *Container) ChildFinished(brain IBrain, child INode, succeeded bool)

ChildFinished 

@implement IContainer.ChildFinished
@receiver c
@param brain
@param child
@param succeeded

func (*Container) InitNodeWorker 

func (c *Container) InitNodeWorker(worker INodeWorker) error

InitNodeWorker 

@override Node.InitNodeWorker
@receiver c
@param worker

func (*Container) OnChildFinished 

func (c *Container) OnChildFinished(brain IBrain, child INode, succeeded bool)

OnChildFinished 

@implement IContainerWorker.OnChildFinished
@receiver c
@param brain
@param child
@param succeeded

type Decorator 

type Decorator struct {
	Container
	IDecoratorWorker
	// contains filtered or unexported fields
}

Decorator 装饰器基类 

@implement IDecorator

func (*Decorator) CanDynamicDecorate 

func (d *Decorator) CanDynamicDecorate() bool

CanDynamicDecorate 

@implement IDecoratorWorker.CanDynamicDecorate
@receiver d
@return bool

func (*Decorator) CompositeAncestorFinished 

func (d *Decorator) CompositeAncestorFinished(brain IBrain, composite IComposite)

CompositeAncestorFinished 

@override Node.CompositeAncestorFinished
@receiver n
@param brain
@param composite

func (*Decorator) Decorate 

func (d *Decorator) Decorate(decorated INode)

Decorate 

@implement IDecorator.Decorate
@receiver n
@param decorated

func (*Decorator) Decorated 

func (d *Decorator) Decorated(brain IBrain) INode

Decorated 

@implement IDecorator.Decorated
@receiver d
@return INode

func (*Decorator) Finish 

func (d *Decorator) Finish(brain IBrain, succeeded bool)

Finish 

@override Node.Finish
@receiver d
@param brain
@param succeeded

func (*Decorator) InitNodeWorker 

func (d *Decorator) InitNodeWorker(worker INodeWorker) error

InitNodeWorker 

@override Node.InitNodeWorker
@receiver c
@param worker

func (*Decorator) OnAbort added in v1.1.4 

func (d *Decorator) OnAbort(brain IBrain)

OnAbort 子类若有不同实现不该直接继承 

@override Node.OnAbort
@receiver n
@param brain

func (*Decorator) SetRoot 

func (d *Decorator) SetRoot(brain IBrain, root IRoot)

SetRoot 

@override Node.SetRoot
@receiver n
@param root

type DelegateMeta 

type DelegateMeta struct {
	Delegate     any
	ReflectValue reflect.Value
}

type DynamicBehaviorMode added in v1.0.3 

type DynamicBehaviorMode int

DynamicBehaviorMode 动态子树中断模式,描述的是装饰器动态挂载子树时若旧子树正在运行应该如何处理 

const (
	DynamicBehaviorModeRestart  DynamicBehaviorMode = iota // 动态挂载子树时,若正在运行则重启装饰器
	DynamicBehaviorModeContinue                            // 动态挂载子树时，不做任何行为,即不中断正在运行的子树
	DynamicBehaviorModeAbort                               // 态挂载子树时,若正在运行则中断装饰器
)

type EventType 

type EventType int

EventType 行为树回调给委托的事件类型 

const (
	EventTypeOnStart  EventType = iota // 节点启动时
	EventTypeOnUpdate                  // 节点更新时(瞬时节点无效)
	EventTypeOnAbort                   // 节点被打断时(瞬时节点无效)
)

type FinishEvent added in v1.0.3 

type FinishEvent struct {
	ID        int  // IBrain.ID
	IsAbort   bool // 是否是终止的,false则为正常完成
	Succeeded bool // 运行结果是否成功: Result is ResultSucceeded
	IsActive  bool // 停止前是否活跃
}

type FinishMode 

type FinishMode int

FinishMode 平行节点的完成模式 

const (
	FinishModeOne FinishMode = iota // 只要有一个子节点完成就完成
	FinishModeAll                   // 全部子节点完成才完成
)

type IBlackboard 

type IBlackboard interface {
	// Get 获取Value,可链式传给 ConvertAnyValue[T]来转换类型
	//  @receiver b
	//  @param key
	//  @return any
	//  @return bool
	Get(key string) (any, bool)
	// GetDuration 获取 time.Duration 类型的值,支持 int64 | string | time.Duration. string 格式参考 time.ParseDuration
	//  @receiver b
	//  @param key
	//  @return time.Duration
	//  @return bool
	GetDuration(key string) (time.Duration, bool)
	// Set 设置KV(用户域)
	//  线程安全
	//  @receiver b
	//  @param key
	//  @param val
	Set(key string, val any)
	// Del 删除KV
	//  线程安全
	//  @receiver b
	//  @param key
	Del(key string)
}

IBlackboard 黑板,AI行为树实例的记忆

type IBlackboardInternal 

type IBlackboardInternal interface {
	IBlackboard
	// ThreadID 获取线程ID
	//  @return int
	ThreadID() int
	// Start 启动,将会开始监听kv
	//  私有,框架内部使用
	//  非线程安全
	//  @receiver b
	Start()
	// Stop 停止,将会停止监听kv
	//  私有,框架内部使用
	//  非线程安全
	//  @receiver b
	Stop()
	AddObserver(key string, observer Observer)
	RemoveObserver(key string, observer Observer)
	// TreeMemory 树数据
	//  @param rootID
	//  @return Memory
	TreeMemory(rootID string) Memory
	// NodeExt 节点的数据(扩展)
	//  @param nodeID
	//  @return Memory
	NodeExt(nodeID string) Memory
	// NodeMemory 节点的数据(固定)
	//  @param nodeID
	//  @return *NodeMemory
	NodeMemory(nodeID string) *NodeMemory
}

IBlackboardInternal 框架内或自定义节点时使用的黑板,从 IBlackboard 转化来 

含有私有API,业务层请勿调用,避免引发不可预期的后果

type IBrain 

type IBrain interface {
	// ID 唯一ID 即 IBlackboard.ThreadID
	//
	// @return int
	ID() int
	// FinishChan 树运行结束的信道
	//  @return <-chan
	FinishChan() <-chan *FinishEvent
	SetFinishChan(finishChan chan *FinishEvent)
	// Blackboard 获取黑板
	//  @return IBlackboard
	Blackboard() IBlackboard
	RegisterDelegate(name string, delegate any)
	// GetDelegate 获取委托
	//  @param name
	//  @return delegate
	//  @return ok
	GetDelegate(name string) (delegate any, ok bool)
	// Go 在 IBrain 的独立线程里执行任务
	//  @param task
	Go(task func())
	// RunningTree 正在执行的树
	//  @return IRoot
	RunningTree() IRoot
	// Running 是否有正在执行的树
	//
	// 非线程安全
	// @return bool
	Running() bool
	// Abort 终止正在运行的行为树
	//  线程安全
	//
	// @param abortChan
	Abort(abortChan chan *FinishEvent)
	// Run 异步启动
	//
	// @param tag
	// @param force 是否强制终止正在运行的树
	Run(tag string, force bool) error
	// DynamicDecorate 给正在运行的树动态挂载子树
	//
	//	非线程安全,调用方自己保证
	//
	// @receiver b
	// @param containerTag 动态子树容器的tag
	// @param subtreeTag 子树的tag
	// @return error
	DynamicDecorate(containerTag string, subtreeTag string) error
	Cron(interval time.Duration, randomDeviation time.Duration, task func()) *timingwheel.Timer
	After(interval time.Duration, randomDeviation time.Duration, task func()) *timingwheel.Timer
}

IBrain 大脑=行为树+记忆+委托对象集合. 也可以理解为上下文

type IBrainInternal added in v1.0.2 

type IBrainInternal interface {
	// OnNodeUpdate 供节点回调执行委托
	//  @receiver b
	//  @param target
	//  @param method
	//  @param brain
	//  @param eventType
	//  @param delta
	//  @return bcore.Result
	OnNodeUpdate(target string, method string, brain IBrain, eventType EventType, delta time.Duration) Result

	// GetDelegates 获取委托map拷贝
	//  @receiver b
	//  @return map[string]any
	GetDelegates() map[string]any
	RWFinishChan() chan *FinishEvent
	SetRunningTree(root IRoot)
	LogContext() map[string]any
}

IBrainInternal 框架内部使用的 Brain

type IComposite 

type IComposite interface {
	IContainer
	AddChild(child INode)
	AddChildren(children []INode)
	Children() []INode
	// AbortLowerPriorityChildrenForChild 中断低优先级分支
	//  子类必须覆写
	//  @param childAbortBy 发起中断请求的子节点
	AbortLowerPriorityChildrenForChild(brain IBrain, childAbortBy INode)
}

IComposite 复合节点

type IContainer 

type IContainer interface {
	INode
	// ChildFinished 收到子节点停止结束的调用
	//  IContainer 的子节点须在 INode.Finish 中调用 父节点的 ChildFinished 以通知父节点,父节点再根据自己的控制逻辑决定是否回溯
	//  停止链路请参看 Abort
	//  @param child
	//  @param succeeded
	ChildFinished(brain IBrain, child INode, succeeded bool)
}

IContainer 容器:可以挂载子节点的节点

type IContainerWorker 

type IContainerWorker interface {
	// OnChildFinished IContainer.ChildFinished 的回调
	//  @param child
	//  @param succeeded
	OnChildFinished(brain IBrain, child INode, succeeded bool)
}

IContainerWorker Container 的回调,Container 的子类必须实现该接口

type IDecorator 

type IDecorator interface {
	INode
	// Decorate 装饰子节点
	//  @param decorated
	Decorate(decorated INode)
	// Decorated 获取被装饰节点
	//  @receiver d
	//  @return INode
	Decorated(brain IBrain) INode
	IDecoratorWorker
}

IDecorator 装饰器,修饰子节点

type IDecoratorWorker 

type IDecoratorWorker interface {
	// CanDynamicDecorate 能否动态更换子节点
	//  @return bool
	CanDynamicDecorate() bool
}

type INode 

type INode interface {
	// InitNodeWorker 设置回调接口,应该委托给继承树中的叶子子类实现
	//  @param worker
	InitNodeWorker(worker INodeWorker) error
	// NodeWorker 获取回调委托(子类对象)
	//  @return INodeWorker
	NodeWorker() INodeWorker
	// NodeWorkerAsNode 获取子类对象
	//
	// @return INode
	NodeWorkerAsNode() INode
	// Init 根据配置加载节点实例
	//  @param cfg
	Init(cfg *config.NodeCfg) error
	// Memory 节点数据
	//  @receiver n
	//  @param brain
	//  @return *NodeMemory
	Memory(brain IBrain) *NodeMemory
	ID() string
	Title() string
	Category() string
	Properties() any
	Name() string
	RawCfg() *config.NodeCfg
	Delegator() config.DelegatorCfg
	// HasDelegatorOrScript 是否存在委托方法或脚本
	//  @return bool
	HasDelegatorOrScript() bool
	State(brain IBrain) NodeState
	IsActive(brain IBrain) bool
	IsInactive(brain IBrain) bool
	IsAborting(brain IBrain) bool
	// Root 获取root
	//  注意由于行为数是单例,如果当前节点是root(子树root),只应该从黑板设置和获取root
	//  @return IRoot
	Root(brain IBrain) IRoot
	// SetRoot 设置根节点
	//  注意由于行为数是单例,这里只能设置当前所在子树的root.
	//  @param root
	SetRoot(brain IBrain, root IRoot)
	SetUpstream(brain IBrain, upstream INode)
	// Start 开始执行 非线程安全,上层须自行封装线程安全的方法
	//  @param brain
	Start(brain IBrain)
	// Abort 中断(终止)执行 非线程安全,上层须自行封装线程安全的方法
	//  一般来说只应该由 IDecorator 调用
	//  一般来说,中断链路为:
	//   节点A Abort-> A INodeWorker.OnAbort-> 子节点B Abort (其他所有子结点同理)-> B INodeWorker.OnAbort-> B Finish-> A IContainer.ChildFinished-> <所有子节点都完成了?true:> A Finish-> 继续按上诉链路回溯上一层
	//  @param brain
	Abort(brain IBrain)
	// Finish 完成执行
	//  这里是真正的停止,会将执行结果 Result 回溯给父节点
	//  注意: Finish 应该是你的最后一个调用,在调用 Finish 后不要再修改任何状态或调用任何东西,否则将产生不可预知的后果
	//  一般来说,停止链路为:
	//  节点B Finish-> 父节点A IContainer.ChildFinished-> <所有子节点都完成了?true:> A Finish-> 继续按上诉链路回溯上一层
	//  @param brain
	//  @param succeeded
	Finish(brain IBrain, succeeded bool)
	// CompositeAncestorFinished 最近的 IComposite 类型的祖先节点关闭时调用
	//  由于直接父节点可能是装饰节点,所以这里特指“最近的 IComposite 类型的祖先节点”
	//  @param brain
	//  @param composite
	CompositeAncestorFinished(brain IBrain, composite IComposite)
	String(brain IBrain) string
	Path(brain IBrain) string
	// Parent 获取父节点
	//  @return IContainer
	Parent(brain IBrain) IContainer
	// SetParent 设置父节点/或者静态挂载.注意不要设置成父节点的父类对象了(若拿到的是父类对象,应该调用 NodeWorker 来获取具体的子类对象).
	//  @param parent
	SetParent(parent IContainer)
	// DynamicMount 将自己作为子树动态挂载到 parent
	//  @param brain
	//  @param parent
	DynamicMount(brain IBrain, parent IContainer)
	Log(brain IBrain, ops ...LogOption) *zap.Logger
	Dump(brain IBrain) string
}

INode 节点 

继承自 Node 的自定义节点须实现 INodeWorker
一般来说,继承自 Node 的子类不应覆写该接口

type INodeWorker 

type INodeWorker interface {
	// OnStart Node.Start 的回调
	//  @param brain
	OnStart(brain IBrain)
	// OnAbort Node.Abort 的回调
	//  @param brain
	OnAbort(brain IBrain)
	// PropertiesClassProvider 提供用于解析 Node.properties 的类的零值. Node.Init 的回调
	//  @param properties
	PropertiesClassProvider() any
	// OnCompositeAncestorFinished Node.CompositeAncestorFinished 的回调
	//  目前仅用来给装饰器移除监察函数
	//  @param brain
	//  @param composite
	OnCompositeAncestorFinished(brain IBrain, composite IComposite)
	// CanMountTo 是否可以挂载到目标容器节点上,会被 Node.Parent 和 Node.SetParent 回调
	//  @return bool
	CanMountTo() bool
	// OnString Node.String 的回调
	//  @param brain
	//  @return string
	OnString(brain IBrain) string
}

INodeWorker Node 中会回调的方法,应该委托给继承树中的叶子子类实现 

继承 Node 须覆写该接口

type IObservingProperties 

type IObservingProperties interface {
	GetAbortMode() AbortMode
}

IObservingProperties 观察者装饰器属性

type IObservingWorker 

type IObservingWorker interface {
	// StartObserving 开始监听
	//  @param brain
	StartObserving(brain IBrain)
	// StopObserving 停止监听
	//  @param brain
	StopObserving(brain IBrain)
	// ConditionMet 计算条件是否满足
	//  @param brain
	//  @param args... 透传参数,由 ObservingDecorator.Evaluate 传递过来
	//  @return bool
	ConditionMet(brain IBrain, args ...any) bool
}

IObservingWorker ObservingDecorator 的回调,ObservingDecorator 的子类必须实现该接口

type IRoot 

type IRoot interface {
	IDecorator
	// IsSubTree 是否父节点
	//  @param brain
	//  @return bool
	IsSubTree(brain IBrain) bool
	// Interval 该树默认刷新间隔时间
	//  @return time.Duration
	Interval() time.Duration
	// SafeStart  启动行为树.
	//
	//		线程安全
	// @receiver r
	// @param brain
	// SafeStart  启动行为树.
	//
	// @param brain
	// @param force 是否强制启动.若root是激活状态,true则先终止再启动,false则原tree继续运行只报错不重启.
	SafeStart(brain IBrain, force bool)
	// SafeAbort 终止行为树
	//
	//		线程安全
	// @param brain
	// @param abortChan
	SafeAbort(brain IBrain, abortChan chan *FinishEvent)
}

type LogOption added in v1.1.2 

type LogOption = func(brain IBrain, logg *zap.Logger) *zap.Logger

type Memory 

type Memory = map[string]any

Memory 为 Blackboard 提供内部使用的数据结构

type Node 

type Node struct {
	INodeWorker
	// contains filtered or unexported fields
}

Node 节点基类 

@implement INode
@implement INodeWorker

func (*Node) Abort 

func (n *Node) Abort(brain IBrain)

Abort 

@implement INode.Abort
@receiver n
@param brain

func (*Node) CanMountTo added in v1.0.7 

func (n *Node) CanMountTo() bool

CanMountTo 

@implement INodeWorker.CanMountTo
@receiver n
@return bool

func (*Node) Category 

func (n *Node) Category() string

func (*Node) CompositeAncestorFinished 

func (n *Node) CompositeAncestorFinished(brain IBrain, composite IComposite)

CompositeAncestorFinished 

@implement INode.CompositeAncestorFinished
@receiver n
@param brain
@param composite

func (*Node) CopyTo added in v1.0.7 

func (n *Node) CopyTo(target *Node)

CopyTo 拷贝所有成员到 target @implement INode.CopyTo

@receiver n @param target 新的零值 Node

func (*Node) Delegator 

func (n *Node) Delegator() config.DelegatorCfg

func (*Node) Dump added in v1.1.17 

func (n *Node) Dump(brain IBrain) string

func (*Node) DynamicMount 

func (n *Node) DynamicMount(brain IBrain, parent IContainer)

DynamicMount 

@implement INode.DynamicMount
@receiver n
@param brain
@param parent

func (*Node) Finish 

func (n *Node) Finish(brain IBrain, succeeded bool)

Finish 

@implement INode.Finish
@receiver n
@param brain
@param succeeded

func (*Node) HasDelegatorOrScript added in v1.0.2 

func (n *Node) HasDelegatorOrScript() bool

func (*Node) ID 

func (n *Node) ID() string

func (*Node) Init 

func (n *Node) Init(cfg *config.NodeCfg) error

Init 

@implement INode.Init
@receiver n
@param cfg

func (*Node) InitNodeWorker 

func (n *Node) InitNodeWorker(worker INodeWorker) error

InitNodeWorker 

@implement INode.InitNodeWorker
@receiver n
@param worker

func (*Node) IsAborting 

func (n *Node) IsAborting(brain IBrain) bool

func (*Node) IsActive 

func (n *Node) IsActive(brain IBrain) bool

func (*Node) IsInactive 

func (n *Node) IsInactive(brain IBrain) bool

func (*Node) Log 

func (n *Node) Log(brain IBrain, ops ...LogOption) *zap.Logger

func (*Node) Memory 

func (n *Node) Memory(brain IBrain) *NodeMemory

Memory 节点数据 

@implement INode.Memory
@receiver n
@param brain
@return *NodeMemory

func (*Node) Name 

func (n *Node) Name() string

func (*Node) NodeWorker 

func (n *Node) NodeWorker() INodeWorker

NodeWorker 

@implement INode.NodeWorker
@receiver n
@return INodeWorker

func (*Node) NodeWorkerAsNode added in v1.0.6 

func (n *Node) NodeWorkerAsNode() INode

NodeWorkerAsNode 

@implement INode.NodeWorkerAsNode

@receiver n @return INode

func (*Node) OnAbort 

func (n *Node) OnAbort(brain IBrain)

OnAbort 

@implement INodeWorker.OnAbort
@receiver n
@param brain

func (*Node) OnCompositeAncestorFinished 

func (n *Node) OnCompositeAncestorFinished(brain IBrain, composite IComposite)

OnCompositeAncestorFinished 

@implement INodeWorker.OnCompositeAncestorFinished
@receiver n
@param brain
@param composite

func (*Node) OnStart 

func (n *Node) OnStart(brain IBrain)

OnStart 

@implement INodeWorker.OnStart
@receiver n
@param brain

func (*Node) OnString 

func (n *Node) OnString(brain IBrain) string

OnString 

@implement INodeWorker.OnString 的回调
@param brain
@return string

func (*Node) OnUpdate added in v1.0.2 

func (n *Node) OnUpdate(brain IBrain, eventType EventType, delta time.Duration) Result

func (*Node) Parent 

func (n *Node) Parent(brain IBrain) IContainer

Parent 

@implement INode.Parent()
@receiver n
@return IContainer

func (*Node) Path 

func (n *Node) Path(brain IBrain) string

func (*Node) Properties 

func (n *Node) Properties() any

func (*Node) PropertiesClassProvider 

func (n *Node) PropertiesClassProvider() any

PropertiesClassProvider 

@implement INodeWorker.PropertiesClassProvider
@receiver n
@return any

func (*Node) RawCfg added in v1.0.7 

func (n *Node) RawCfg() *config.NodeCfg

func (*Node) Root 

func (n *Node) Root(brain IBrain) IRoot

Root 

@implement INode.Root()
@receiver n
@return IRoot

func (*Node) SetParent 

func (n *Node) SetParent(parent IContainer)

SetParent 

@implement INode.SetParent
@receiver n
@param parent

func (*Node) SetRoot 

func (n *Node) SetRoot(brain IBrain, root IRoot)

SetRoot 

@implement INode.SetRoot
@receiver n
@param root

func (*Node) SetUpstream added in v1.1.2 

func (n *Node) SetUpstream(brain IBrain, upstream INode)

func (*Node) Start 

func (n *Node) Start(brain IBrain)

Start 

@implement INode.Start
@receiver n
@param brain

func (*Node) State added in v1.0.8 

func (n *Node) State(brain IBrain) NodeState

func (*Node) String 

func (n *Node) String(brain IBrain) string

func (*Node) Title 

func (n *Node) Title() string

func (*Node) Update added in v1.0.2 

func (n *Node) Update(brain IBrain, eventType EventType, delta time.Duration) Result

type NodeMemory 

type NodeMemory struct {
	Ext                 Memory     // 扩展数据,给框架之外的自定义节点使用
	State               NodeState  // 节点状态
	MountParent         IContainer // 动态挂载的父节点,仅 Root 有效
	DynamicChild        INode      // 动态挂载的子节点
	RequestDynamicChild INode      // 请求挂载的子节点,延迟到旧的分支执行完成后才真正挂载到 DynamicChild
	DynamicRoot         IRoot      // 动态子树的根节点
	Observing           bool       // 是否监听中,仅 ObservingDecorator 及其派生类有效
	// 根据节点类型意义不同:
	//  1.非随机组合节点:当前运行中的子节点索引;
	//  2.随机组合节点:完成了几个子节点;
	//  3.循环装饰器:当前为第几次循环
	CurrIndex        int
	ChildrenOrder    []int              // 孩子节点排序索引
	Parallel         *ParallelMemory    // 并发节点的数据
	CronTask         *timingwheel.Timer // 定时任务
	DefaultObserver  Observer           // 默认监听函数
	Cooling          bool               // 是否cd中
	LimitReached     bool               // 是否达到限制
	DecoratedDone    bool               // 被装饰节点是否完成
	DecoratedSuccess bool               // 被装饰节点是否成功
	Elapsed          time.Duration      // 启动后流逝的时间
	Restarting       bool               // 是否正在重启,是 State 为 NodeStateAborting 时的一个细分状态
}

NodeMemory 节点数据

func NewNodeMemory 

func NewNodeMemory() *NodeMemory

type NodeState 

type NodeState int // 节点状态

const (
	NodeStateInactive NodeState = iota // 非活跃
	NodeStateActive                    // 活跃
	NodeStateAborting                  // 正在中断
)

type Observer 

type Observer interface {
	Fire(op OpType, key string, oldValue any, newValue any)
}

type ObservingDecorator 

type ObservingDecorator struct {
	Decorator
	IObservingWorker
}

ObservingDecorator 观察者装饰器,实现了对条件的监听,和条件变化时的各种中断模式 

 节点处于启用状态且条件不再被满足：
        Stops.NONE： 无
        Stops.SELF： 中断当前节点
        Stops.LOWER_PRIORITY： 无
        Stops.BOTH： 中断当前节点
节点处于停用状态且条件被满足时：
        Stops.NONE： 无
        Stops.SELF： 无
        Stops.LOWER_PRIORITY： 关闭当前启用的分支，启动此分支
        Stops.BOTH： 关闭当前启用的分支，启动此分支

func (*ObservingDecorator) AbortMode 

func (o *ObservingDecorator) AbortMode() AbortMode

AbortMode 中断模式 

@receiver o
@return AbortMode

func (*ObservingDecorator) ConditionMet 

func (o *ObservingDecorator) ConditionMet(brain IBrain, args ...any) bool

ConditionMet panic 

@receiver o
@param brain
@param args
@return bool

func (*ObservingDecorator) Evaluate 

func (o *ObservingDecorator) Evaluate(brain IBrain, args ...any)

Evaluate 根据节点状态和条件满足来评估后续中断流程 

@receiver o
@param brain
@param args... 透传参数,原样传递给 ConditionMet

func (*ObservingDecorator) InitNodeWorker 

func (o *ObservingDecorator) InitNodeWorker(worker INodeWorker) error

InitNodeWorker 

@override Node.InitNodeWorker
@receiver c
@param worker

func (*ObservingDecorator) NewBlackboardObserver added in v1.1.25 

func (o *ObservingDecorator) NewBlackboardObserver(brain IBrain) Observer

func (*ObservingDecorator) OnAbort added in v1.0.6 

func (o *ObservingDecorator) OnAbort(brain IBrain)

OnAbort 

@override Node.OnAbort
@receiver n
@param brain

func (*ObservingDecorator) OnChildFinished 

func (o *ObservingDecorator) OnChildFinished(brain IBrain, child INode, succeeded bool)

OnChildFinished 

@override Container.OnChildFinished
@receiver r
@param brain
@param child
@param succeeded

func (*ObservingDecorator) OnCompositeAncestorFinished 

func (o *ObservingDecorator) OnCompositeAncestorFinished(brain IBrain, composite IComposite)

OnCompositeAncestorFinished 

@override Node.OnCompositeAncestorFinished
@receiver n
@param brain
@param composite

func (*ObservingDecorator) OnStart 

func (o *ObservingDecorator) OnStart(brain IBrain)

OnStart 

@override Node.OnStart
@receiver n
@param brain

func (*ObservingDecorator) PropertiesClassProvider 

func (o *ObservingDecorator) PropertiesClassProvider() any

PropertiesClassProvider 

@implement INodeWorker.PropertiesClassProvider
@receiver n
@return any

func (*ObservingDecorator) StartObserving 

func (o *ObservingDecorator) StartObserving(brain IBrain)

StartObserving 

@implement IObservingWorker.StartObserving
@receiver o
@param brain

func (*ObservingDecorator) StopObserving 

func (o *ObservingDecorator) StopObserving(brain IBrain)

StopObserving 

@implement IObservingWorker.StopObserving
@receiver o
@param brain

type ObservingProperties 

type ObservingProperties struct {
	AbortMode AbortMode `json:"abortMode"`
}

ObservingProperties 观察者装饰器属性

func (*ObservingProperties) GetAbortMode 

func (o *ObservingProperties) GetAbortMode() AbortMode

type OpType 

type OpType int // 操作类型

const (
	OpAdd    OpType = iota + 1 // 添加kv
	OpDel                      // 删除kv
	OpChange                   // 修改value
)

type Operator 

type Operator int

Operator 运算符 

const (
	OperatorIsSet      Operator = iota // 是否设存在KEY
	OperatorIsNotSet                   // 是否不存在key
	OperatorIsEqual                    // 是否相等
	OperatorIsNotEqual                 // 是否不等
	OperatorIsGt                       // 是否大于
	OperatorIsGte                      // 是否大于等于
	OperatorIsLt                       // 是否小于
	OperatorIsLte                      // 是否小于等于
)

type ParallelMemory 

type ParallelMemory struct {
	RunningCount      int             // 运行中的子节点数量
	SucceededCount    int             // 成功的子节点数量
	FailedCount       int             // 失败的子节点数量
	ChildrenSucceeded map[string]bool // 子节点是否成功
	Succeeded         bool            // 自己是否成功
	ChildrenAborted   bool            // 是否中断子节点
}

ParallelMemory 并发节点的数据

type Result 

type Result int

Result 执行结果 

const (
	ResultFailed     Result = iota // 失败
	ResultSucceeded                // 成功
	ResultInProgress               // 进行中
)

type Root 

type Root struct {
	Decorator
}

func (*Root) CanMountTo added in v1.0.7 

func (r *Root) CanMountTo() bool

CanMountTo 

@override Node.CanMountTo
@receiver r
@return bool

func (*Root) Finish added in v1.0.3 

func (r *Root) Finish(brain IBrain, succeeded bool)

Finish 

@override Node.Finish
@receiver d
@param brain
@param succeeded

func (*Root) Interval 

func (r *Root) Interval() time.Duration

func (*Root) IsSubTree 

func (r *Root) IsSubTree(brain IBrain) bool

IsSubTree 

@implement IRoot.IsSubTree
@receiver r
@param brain
@return bool

func (*Root) OnAbort 

func (r *Root) OnAbort(brain IBrain)

OnAbort 

@override Node.OnAbort
@receiver r
@param brain

func (*Root) OnChildFinished 

func (r *Root) OnChildFinished(brain IBrain, child INode, succeeded bool)

OnChildFinished 

@override Container.OnChildFinished
@receiver r
@param brain
@param child
@param succeeded

func (*Root) OnStart 

func (r *Root) OnStart(brain IBrain)

OnStart 

@override Node.OnStart
@receiver n
@param brain

func (*Root) PropertiesClassProvider 

func (r *Root) PropertiesClassProvider() any

PropertiesClassProvider 

@implement INodeWorker.PropertiesClassProvider
@receiver n
@return any

func (*Root) SafeAbort added in v1.0.7 

func (r *Root) SafeAbort(brain IBrain, abortChan chan *FinishEvent)

SafeAbort

@implement IRoot.SafeAbort @receiver r @param brain @param abortChan

func (*Root) SafeStart added in v1.0.7 

func (r *Root) SafeStart(brain IBrain, force bool)

SafeStart

@implement IRoot.SafeStart @receiver r @param brain

func (*Root) SetRoot 

func (r *Root) SetRoot(brain IBrain, root IRoot)

SetRoot 

@override Decorator.SetRoot
@receiver n
@param root

func (*Root) Start added in v1.0.3 

func (r *Root) Start(brain IBrain)

Start 启动行为树. 

	非线程安全,要线程安全请使用 SafeStart
 @implement INode.Start
 @receiver n
 @param brain

type Task 

type Task struct {
	Node
}

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