beetry-node 0.2.0

Beetry library with reusable behavior tree nodes.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163

use beetry_core::{Node, NonEmptyNodes, TickStatus};
use bon::Builder;

use crate::{Indices, control::RunningNodesAborter};

/// Threshold configuration for [`Parallel`].
#[derive(Debug, Clone, Copy, Builder)]
#[cfg_attr(feature = "plugin", derive(serde::Deserialize))]
pub struct ParallelParams {
    /// Number of children that must succeed for the node to succeed.
    pub success_count: u16,
    /// Number of children that must fail for the node to fail.
    pub failure_count: u16,
}

/// Ticks all children and resolves once the configured success or failure
/// threshold is reached.
pub struct Parallel {
    nodes: NonEmptyNodes,
    aborter: RunningNodesAborter,
    params: ParallelParams,
}

impl Parallel {
    #[must_use]
    pub fn new(nodes: impl Into<NonEmptyNodes>, params: ParallelParams) -> Self {
        Self {
            nodes: nodes.into(),
            aborter: RunningNodesAborter::new(),
            params,
        }
    }
}

impl Node for Parallel {
    fn tick(&mut self) -> TickStatus {
        let aborter: &mut RunningNodesAborter = &mut self.aborter;
        let mut success_count = 0_u16;
        let mut failure_count = 0_u16;

        for idx in self.nodes.indices() {
            let node = &mut self.nodes[idx];
            match node.tick() {
                TickStatus::Success => {
                    success_count += 1;
                    aborter.untrack(idx);
                }
                TickStatus::Running => {
                    aborter.track(idx);
                }
                TickStatus::Failure => {
                    failure_count += 1;
                    aborter.untrack(idx);
                }
            }
        }

        if failure_count >= self.params.failure_count {
            aborter.abort_all(&mut self.nodes);
            return TickStatus::Failure;
        }

        if success_count >= self.params.success_count {
            aborter.abort_all(&mut self.nodes);
            return TickStatus::Success;
        }

        if aborter.is_any_tracked() {
            TickStatus::Running
        } else {
            TickStatus::Failure
        }
    }

    fn abort(&mut self) {
        self.aborter.clear();
        for node in &mut self.nodes {
            node.abort();
        }
    }

    fn reset(&mut self) {
        self.aborter.clear();
        for node in &mut self.nodes {
            node.reset();
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::mock_test::{boxed, mock_returns};

    fn params(success_count: u16, failure_count: u16) -> ParallelParams {
        ParallelParams::builder()
            .success_count(success_count)
            .failure_count(failure_count)
            .build()
    }

    #[test]
    fn succeeds_on_success_threshold() {
        let nodes = NonEmptyNodes::from([
            boxed(mock_returns([TickStatus::Success])),
            boxed(mock_returns([TickStatus::Success])),
            boxed(mock_returns([TickStatus::Failure])),
        ]);
        let mut pl = Parallel::new(nodes, params(2, 3));

        assert_eq!(pl.tick(), TickStatus::Success);
    }

    #[test]
    fn fails_on_failure_threshold() {
        let nodes = NonEmptyNodes::from([
            boxed(mock_returns([TickStatus::Failure])),
            boxed(mock_returns([TickStatus::Failure])),
            boxed(mock_returns([TickStatus::Success])),
        ]);
        let mut pl = Parallel::new(nodes, params(3, 2));

        assert_eq!(pl.tick(), TickStatus::Failure);
    }

    #[test]
    fn returns_running_when_no_threshold_reached_and_any_running() {
        let nodes = NonEmptyNodes::from([
            boxed(mock_returns([TickStatus::Success])),
            boxed(mock_returns([TickStatus::Running])),
            boxed(mock_returns([TickStatus::Failure])),
        ]);
        let mut pl = Parallel::new(nodes, params(2, 2));

        assert_eq!(pl.tick(), TickStatus::Running);
    }

    #[test]
    fn fails_when_all_terminal_and_no_threshold_reached() {
        let nodes = NonEmptyNodes::from([
            boxed(mock_returns([TickStatus::Success])),
            boxed(mock_returns([TickStatus::Failure])),
            boxed(mock_returns([TickStatus::Failure])),
        ]);
        let mut pl = Parallel::new(nodes, params(3, 3));

        assert_eq!(pl.tick(), TickStatus::Failure);
    }

    #[test]
    fn aborts_tracked_nodes_when_threshold_reached() {
        let mut m1 = mock_returns([TickStatus::Running]);
        let m2 = mock_returns([TickStatus::Success]);
        let m3 = mock_returns([TickStatus::Success]);

        m1.expect_abort().once().return_const(());

        let nodes = NonEmptyNodes::from([boxed(m1), boxed(m2), boxed(m3)]);
        let mut pl = Parallel::new(nodes, params(2, 3));

        assert_eq!(pl.tick(), TickStatus::Success);
    }
}