/// <summary>
/// 终止节点的执行并退出，执行结果记为Failed
/// </summary>
public void InterruptAndExit()
{
if (ExecuteState != BehaviorExecuteState.executing)
{
return;
}
ExecuteState = BehaviorExecuteState.failed;
if (SubNodes.Count == 0)
{
return;
}
foreach (var item in SubNodes)
{
item.InterruptAndExit();
}
}
/// <summary>
/// 将完成任务该节点重置为Ready
/// </summary>
public virtual void Reset()
{
if (executeState == BehaviorExecuteState.executing)
{
throw new Exception("试图重置执行中的行为");
}
if (SubNodes.Count == 0)
{
ExecuteState = BehaviorExecuteState.Ready;
return;
}
ExecuteState = BehaviorExecuteState.Ready;
foreach (var item in SubNodes)
{
item.Reset();
}
}
public override void Execute()
{
if (Root.ExecuteState == BehaviorExecuteState.failed || Root.ExecuteState == BehaviorExecuteState.finishied)
{
PrevResult = Root.ExecuteState;
if (RoundExecuted != null)
{
RoundExecuted(this);
}
Root.Reset();
return;
}
if (Root.ExecuteState == BehaviorExecuteState.Ready)
{
Root.ExecuteState = BehaviorExecuteState.executing;
}
Root.Execute();
}
