behavior-tree-lite 0.3.2

A minimal behavior tree implementation
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

// use std::convert::From;
use behavior_tree_lite::{
    BehaviorCallback, BehaviorNode, BehaviorNodeContainer, BehaviorResult, Context, FallbackNode,
    SequenceNode, Symbol,
};

type BNContainer = BehaviorNodeContainer;

struct CheckMeNode;

impl BehaviorNode for CheckMeNode {
    fn tick(&mut self, _arg: BehaviorCallback, ctx: &mut Context) -> BehaviorResult {
        assert_eq!(Some(&"check me"), ctx.get(Symbol::from("check")));
        BehaviorResult::Success
    }
}

#[test]
fn test_check() {
    let mut ctx = Context::default();
    ctx.set(Symbol::from("check"), "check me");
    let mut print_arm = CheckMeNode;
    print_arm.tick(&mut |_| None, &mut ctx);
}

struct AlwaysSucceed;

impl BehaviorNode for AlwaysSucceed {
    fn tick(&mut self, _arg: BehaviorCallback, _ctx: &mut Context) -> BehaviorResult {
        BehaviorResult::Success
    }
}

struct AlwaysFail;

impl BehaviorNode for AlwaysFail {
    fn tick(&mut self, _arg: BehaviorCallback, _ctx: &mut Context) -> BehaviorResult {
        BehaviorResult::Fail
    }
}

#[test]
fn test_sequence() {
    let mut seq = BNContainer::new_node(SequenceNode::default());
    seq.add_child(BNContainer::new_node(AlwaysSucceed)).unwrap();
    seq.add_child(BNContainer::new_node(AlwaysSucceed)).unwrap();
    assert_eq!(
        seq.tick(&mut |_| None, &mut Context::default()),
        BehaviorResult::Success
    );
    seq.add_child(BNContainer::new_node(AlwaysFail)).unwrap();
    assert_eq!(
        seq.tick(&mut |_| None, &mut Context::default()),
        BehaviorResult::Fail
    );
}

#[test]
fn test_fallback() {
    let mut seq = BNContainer::new_node(FallbackNode::default());
    seq.add_child(BNContainer::new_node(AlwaysFail)).unwrap();
    seq.add_child(BNContainer::new_node(AlwaysFail)).unwrap();
    assert_eq!(
        seq.tick(&mut |_| None, &mut Context::default()),
        BehaviorResult::Fail
    );
    seq.add_child(BNContainer::new_node(AlwaysSucceed)).unwrap();
    assert_eq!(
        seq.tick(&mut |_| None, &mut Context::default()),
        BehaviorResult::Success
    );
}