Struct Parallel 

pub struct Parallel { /* private fields */ }

A Parallel behaviors executes its children concurrently in one thread.

It differs from ParallelAll in how it handles the parallelity: The standard variant is completed either when the success_threshold or the failure_threshold is reached. These are configured using the ports success_count and failure_count. If any of the thresholds is reached, still running children will be halted. Both ports default to -1 which means any number or don’t care.

The variant is gated behind the feature parallel.

Example:

<Parallel success_count="2" failure_count="1">
   <Behavior1/>
   <Behavior2/>
   <Behavior3/>
</Parallel>

Implementations

impl Parallel

pub fn register( registry: &mut impl BehaviorRegistry, name: &str, ) -> Result<(), Error>

Trait Implementations

impl Behavior for Parallel

fn on_halt(&mut self) -> Result<(), Error>

Method called during stop/cancel/halt of a behavior, intended to reset the internal fields of your behavior.

fn on_start( &mut self, behavior: &mut BehaviorData, children: &mut BehaviorTreeElementList, _runtime: &SharedRuntime, ) -> Result<(), Error>

Method is called before starting to tick a behavior, intended to do preliminary stuff for your behavior.

fn tick<'life0, 'life1, 'life2, 'life3, 'async_trait>( &'life0 mut self, _behavior: &'life1 mut BehaviorData, children: &'life2 mut BehaviorTreeElementList, runtime: &'life3 SharedRuntime, ) -> Pin<Box<dyn Future<Output = BehaviorResult> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait, 'life2: 'async_trait, 'life3: 'async_trait,

Method to tick a behavior.

fn start<'life0, 'life1, 'life2, 'life3, 'async_trait>( &'life0 mut self, behavior: &'life1 mut BehaviorData, children: &'life2 mut BehaviorTreeElementList, runtime: &'life3 SharedRuntime, ) -> Pin<Box<dyn Future<Output = BehaviorResult> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait, 'life2: 'async_trait, 'life3: 'async_trait,

Method is called on first tick of a behavior instead of tick(). If this method returns BehaviorState::Running, the behavior becomes asynchronous.

fn halt( &mut self, _behavior: &mut BehaviorData, children: &mut BehaviorTreeElementList, runtime: &SharedRuntime, ) -> BehaviorResult

Method to halt a behavior.

impl BehaviorExecution for Parallel

fn as_any(&self) -> &dyn Any

Dynamic downcasting.

fn as_any_mut(&mut self) -> &mut dyn Any

Mutable dynamic downcasting.

fn kind(&self) -> BehaviorKind

Get the BehaviorKind of the behavior.

fn portlist(&self) -> &dyn PortList

Access the PortList

fn portlist_mut(&mut self) -> &mut dyn PortList

Access the PortList

impl Debug for Parallel

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PortCollectionProvider for Parallel

fn provided_ports(&self) -> &impl PortCollectionAccessors

Returns immutable access to the collections entries.

fn provided_ports_mut(&mut self) -> &mut impl PortCollectionAccessors

Returns mutable access to the collections entries.

fn port_collection(&self) -> &impl PortCollection

Returns an immutable PortCollection.