Crate beetry_core 

Beetry Core

This crate is an internal Beetry implementation crate and is not considered part of the public API. For public APIs, use the beetry crate.

beetry-core defines foundational behavior tree framework traits and concepts.

• Node: the trait every executable tree node implements
• Ticker: a driver that advances a tree from an external tick source
• ConditionBehavior: the behavior contract used by Condition leaf nodes
• ActionBehavior: the behavior contract used by Action leaf nodes

Node

Node is the central runtime trait in Beetry. Every control node, decorator, condition, action, or whole tree is ultimately driven through the same interface. This keeps the tree runtime uniform: composite nodes can schedule children without needing a different protocol from leaf nodes, and higher-level drivers only need to understand the node lifecycle.

Ticker

Ticker ticks a tree from an external tick source.

Because Ticker can be built from a custom stream, each application can define its own ticking mechanism without changing the tree implementation.

Leaf behavior concepts

Condition

ConditionBehavior is the minimal synchronous leaf contract. It is used by Condition, which wraps the behavior and maps its condition evaluation to TickStatus::Success or TickStatus::Failure.

Action

ActionBehavior is the asynchronous leaf contract used by Action. Action wraps the behavior and uses it to construct an ActionTask that can be registered with an executor instead of directly returning a TickStatus from tick.

Note: Action abort is currently implemented as a blocking operation: it signals the executor to abort the task, then waits until the task reaches a terminal state.

Re-exports

pub use leaf::Action;

pub use leaf::ActionBehavior;

pub use leaf::BoxActionBehavior;

pub use leaf::BoxConditionBehavior;

pub use leaf::Condition;

pub use leaf::ConditionBehavior;

Modules

leaf

Structs

ActionTask

User-provided task that defines work to be executed when ticking an action node.

PeriodicTick

Built-in periodic tick source. Useful as the default in most applications.

Root

Root node.

TaskDescription

Ticker

Ticks a behavior tree using an external tick source.

Tree

Behavior tree rooted at a Root node.

Enums

TaskStatus

TickStatus

Result of a single node tick.

TickerError

Errors that can occur while ticking a tree from a tick source.

Traits

AbortTask

ExecutorConcept

Node

Runtime contract for executable behavior tree nodes.

QueryTask

RegisterTask

Task

TaskHandle

Type Aliases

BoxNode

Boxed type-erased Node.

BoxTaskFuture

NonEmptyNodes

Non-empty collection of nodes.

PeriodicTicker