public void InvokeBeforeDecorators(BT bt)
{
foreach (var d in decorators)
{
d.OnBeforeNodeExecution(bt);
}
}
public void InvokeAfterDecorators(BT bt, NodeState state)
{
foreach (var d in decorators)
{
d.OnAfterNodeExecution(bt, state);
}
}
public override NodeState Run(BT bt)
{
var toExecute = (runningNode == null) ? this.children : //if there is not node in running state execute all children
this.children.SkipWhile((n) => n != runningNode); //else skip nodes
foreach (var child in toExecute)
{
if (!child.InvokeConditionDecorators(bt)) //conditions not satisfied, skip this node
{
continue;
}
child.InvokeBeforeDecorators(bt); //invoke pre operations
var state = child.Run(bt);
child.InvokeAfterDecorators(bt, state); //invoke after operations
if (state != NodeState.Failure)
{
if (state == NodeState.Running)
{
runningNode = child;
}
else
{
runningNode = null;
}
return(state);
}
}
runningNode = null;
return(NodeState.Failure);
}
public override NodeState Run(BT bt)
{
if ((endTime - DateTime.Now).Seconds <= 0)
{
endTime = DateTime.Now.AddSeconds(seconds);
return(NodeState.Success);
}
return(NodeState.Running);
}
public void ConditionBool_Red()
{
BT.BT bt = new BT.BT(null);
bt.BlackBoard.SetValue("foo", false);
var dec = new BlackBoardBoolCondition("foo");
Assert.That(dec.OnNodeCondition(bt), Is.Not.EqualTo(true));
}
public void CoditionLess_Red()
{
BT.BT bt = new BT.BT(null);
bt.BlackBoard.SetValue("foo", 0);
bt.BlackBoard.SetValue("bar", 200);
var dec = new BlackBoardCondition <IntCondition, int>("bar", "foo", ConditionType.Less);
Assert.That(dec.OnNodeCondition(bt), Is.EqualTo(false));
}
public override NodeState Run(BT.BT bt)
{
if (++counter < 5)
{
return(NodeState.Running);
}
counter = 0;
return(NodeState.Success); //NB success means that the Selector will be interrupted
}
public void ConditionFromBlackboard_Green()
{
BT.BT bt = new BT.BT(null);
bt.BlackBoard.SetValue("foo", 10);
bt.BlackBoard.SetValue("bar", 10);
var dec = new BlackBoardCondition <IntCondition, int>("foo", "bar", ConditionType.Equal);
Assert.That(dec.OnNodeCondition(bt), Is.EqualTo(true));
}
public bool InvokeConditionDecorators(BT bt)
{
foreach (var d in decorators)
{
if (!d.OnNodeCondition(bt))
{
return(false);
}
}
return(true);
}
public void SetValueAfterExecution_Green()
{
var root = new SequenceNode();
var bt = new BT.BT(root);
var suc = new TaskSuccessNode();
suc.AppendDecorator(new SetValueAfterExecution("foo", () => 10)); //for example set target position
root.Append(suc);
bt.Run();
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(10));
}
public void Tag_Green()
{
var root = new SequenceNode();
var suc = new TaskSuccessNode();
suc.AppendDecorator(new Tag("foo"));
root.Append(suc);
var bt = new BT.BT(root);
bt.Run();
Assert.That(bt.GetActiveTag(), Is.EqualTo("foo"));
}
public void WriteOnFailure_Red()
{
var root = new SequenceNode();
var suc = new TaskSuccessNode();
suc.AppendDecorator(new SetValueOnFail("foo", () => 1));
root.Append(suc);
BT.BT bt = new BT.BT(root);
bt.BlackBoard.SetValue("foo", 0);
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(0));
bt.Run();
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(0));
}
public void WriteOnFailure_Green()
{
var root = new SequenceNode();
var fail = new TaskFailureNode();
fail.AppendDecorator(new SetValueOnFail("foo", () => 1));
root.Append(fail);
BT.BT bt = new BT.BT(root);
bt.BlackBoard.SetValue("foo", 0);
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(0));
bt.Run();
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(1));
}
public void ConditionConstant_Red()
{
var root = new SequenceNode();
var bt = new BT.BT(root);
bt.BlackBoard.SetValue("foo", 10);
var suc = new TaskSuccessNode();
suc.AppendDecorator(new BlackBoardConstantCondition <IntCondition, int>("foo", 10, ConditionType.Equal)); //for example set target position
root.Append(suc);
bt.Run();
Assert.That(suc.executed, Is.Not.EqualTo(false));
}
public override bool OnNodeCondition(BT.BT bt)
{
return(false);
}
public override NodeState Run(BT.BT bt)
{
executed = true;
return(NodeState.Success);
}
public virtual void OnAfterNodeExecution(BT bt, NodeState state)
{
}
public virtual void OnBeforeNodeExecution(BT bt)
{
}
public virtual bool OnNodeCondition(BT bt)
{
return(true);
}
public override NodeState Run(BT.BT bt)
{
executed = true;
return(NodeState.Failure);
}
public override NodeState Run(BT.BT bt)
{
return(default(NodeState));
}
public abstract NodeState Run(BT bt);
