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{
"$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
"name": "idle",
"description": "Default idle/standby behavior with health monitoring, low-power mode, and ready state",
"root": {
"type": "sequence",
"name": "idle_loop",
"children": [
{
"type": "node",
"node": "enter_idle_state",
"name": "idle_state_setter",
"config": {
"disable_active_sensors": false,
"reduce_sensor_rates": true,
"maintain_position": true,
"publish_idle_status": true
}
},
{
"type": "parallel",
"name": "idle_monitoring",
"policy": "require_all",
"children": [
{
"type": "selector",
"name": "power_management",
"children": [
{
"type": "sequence",
"name": "low_battery_handling",
"children": [
{
"type": "node",
"node": "check_battery_level",
"name": "battery_monitor",
"config": {
"check_interval_sec": 5.0,
"low_battery_threshold": 30.0,
"critical_battery_threshold": 15.0
}
},
{
"type": "selector",
"name": "charging_strategy",
"children": [
{
"type": "sequence",
"name": "autonomous_charging",
"children": [
{
"type": "node",
"node": "check_charger_available",
"name": "charger_detector",
"config": {
"detection_method": "ir_beacon",
"max_detection_range": 5.0
}
},
{
"type": "node",
"node": "navigate_to_charger",
"name": "charger_navigator",
"config": {
"approach_speed": 0.2,
"alignment_precision": 0.05,
"docking_timeout_sec": 60.0
}
},
{
"type": "node",
"node": "initiate_charging",
"name": "charging_starter",
"config": {
"verify_connection": true,
"wait_for_charge_start_sec": 10.0
}
}
]
},
{
"type": "node",
"node": "alert_low_battery",
"name": "battery_alerter",
"config": {
"alert_channels": ["dashboard", "log", "operator"],
"alert_priority": "medium",
"repeat_interval_sec": 300.0
}
}
]
}
]
},
{
"type": "node",
"node": "maintain_optimal_power",
"name": "power_optimizer",
"config": {
"target_battery_range": [40.0, 80.0],
"sleep_non_critical_systems": true,
"reduce_computation": true
}
}
]
},
{
"type": "sequence",
"name": "health_monitoring",
"children": [
{
"type": "parallel",
"name": "system_checks",
"policy": "require_all",
"children": [
{
"type": "node",
"node": "monitor_hardware_health",
"name": "hardware_monitor",
"config": {
"check_interval_sec": 10.0,
"components": ["motors", "sensors", "communication", "storage"],
"log_health_status": true
}
},
{
"type": "node",
"node": "monitor_software_health",
"name": "software_monitor",
"config": {
"check_interval_sec": 15.0,
"monitor_memory_usage": true,
"monitor_cpu_usage": true,
"monitor_disk_usage": true,
"memory_threshold_percent": 80.0,
"cpu_threshold_percent": 70.0
}
},
{
"type": "node",
"node": "monitor_network_health",
"name": "network_monitor",
"config": {
"check_interval_sec": 30.0,
"ping_control_plane": true,
"check_latency": true,
"max_acceptable_latency_ms": 500.0
}
}
]
},
{
"type": "selector",
"name": "health_response",
"children": [
{
"type": "sequence",
"name": "critical_issue_handling",
"children": [
{
"type": "node",
"node": "detect_critical_issues",
"name": "critical_detector",
"config": {
"issue_severity_threshold": "critical",
"auto_detect_failures": true
}
},
{
"type": "node",
"node": "execute_safe_shutdown",
"name": "safe_shutdown",
"config": {
"save_state": true,
"notify_operator": true,
"emergency_mode": false
}
}
]
},
{
"type": "sequence",
"name": "warning_handling",
"children": [
{
"type": "node",
"node": "detect_warnings",
"name": "warning_detector",
"config": {
"issue_severity_threshold": "warning",
"aggregate_warnings": true
}
},
{
"type": "node",
"node": "log_health_warnings",
"name": "warning_logger",
"config": {
"log_level": "warn",
"include_diagnostics": true,
"publish_to_dashboard": true
}
}
]
},
{
"type": "node",
"node": "publish_healthy_status",
"name": "health_publisher",
"config": {
"topic": "/robot/health",
"publish_rate_hz": 0.1,
"include_detailed_metrics": false
}
}
]
}
]
},
{
"type": "sequence",
"name": "ready_state_maintenance",
"children": [
{
"type": "node",
"node": "listen_for_commands",
"name": "command_listener",
"config": {
"command_topics": ["/robot/command", "/robot/mission", "/robot/behavior"],
"timeout_sec": null,
"queue_size": 10
}
},
{
"type": "selector",
"name": "command_handling",
"children": [
{
"type": "sequence",
"name": "process_command",
"children": [
{
"type": "node",
"node": "validate_command",
"name": "command_validator",
"config": {
"check_authorization": true,
"check_preconditions": true,
"require_valid_parameters": true
}
},
{
"type": "node",
"node": "transition_to_active",
"name": "state_transitioner",
"config": {
"wake_all_systems": true,
"restore_full_sensor_rates": true,
"load_behavior_tree": true,
"publish_state_change": true
}
}
]
},
{
"type": "node",
"node": "maintain_idle",
"name": "idle_maintainer",
"config": {
"heartbeat_interval_sec": 5.0,
"respond_to_pings": true
}
}
]
}
]
},
{
"type": "node",
"node": "publish_idle_status",
"name": "idle_status_publisher",
"config": {
"topic": "/robot/status",
"publish_rate_hz": 0.2,
"include_battery": true,
"include_health": true,
"include_uptime": true,
"include_position": false
}
}
]
}
]
}
}