behaviortree

'behaviortree' implements a behavior tree library similar to BehaviorTree.CPP but in Rust.

Examples implementing the BehaviorTree.CPP tutorials can be found here. For embedded devices similar examples are available here

⚠️ WARNING ⚠️ This crate is still in development, but will follow semantic versioning.

Example

Below is a very simple example using functions as Actions.

use behaviortree::prelude::*;

const XML: &str = r#"
<root BTCPP_format="4">
    <BehaviorTree ID="MyBehavior">
        <Sequence>
			<MyAction1/>
			<MyAction2/>
        </Sequence>
    </BehaviorTree>
</root>
"#;

fn action_1() -> BehaviorResult {
    // your activity
    // ...

    // In case of Failure    
    //return Ok(BehaviorState::Failure);

    // In case of Success    
    Ok(BehaviorState::Success)
}

fn action_2() -> BehaviorResult {
    // your activity
    // ...
    Ok(BehaviorState::Success)
}

#[tokio::main]
async fn main() {
    // create a behavior factory
    let mut factory = BehaviorTreeFactory::default();

    // register your behaviors
    register_behavior!(factory, action_1, "MyAction1", BehaviorKind::Action).unwrap();
    register_behavior!(factory, action_2, "MyAction2", BehaviorKind::Action).unwrap();

    // create the tree
    let mut tree = factory.create_from_text(XML).unwrap();
    
    // run the tree until Success or Failure
    tree.tick_while_running().await.unwrap();
}

License

Licensed with the fair use "NGMC" license, see license file

Contribution

Any contribution intentionally submitted for inclusion in the work by you, shall be licensed with the same "NGMC" license, without any additional terms or conditions.