mecha10-behavior-runtime 4.2.9

Behavior tree runtime for Mecha10 - unified AI and logic composition system
Documentation 
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//! Built-in action nodes for behavior trees.
//!
//! Common action nodes implementing `BehaviorNode`, registrable via `NodeRegistry`.

mod capability_task;
mod capture_target;
mod elapsed_timer;
mod estop;
mod go_to_location;
mod movement;
mod navigation;
mod sensing;
mod set_capability_target;
mod set_go_to_location_target;
mod timing;

pub use capability_task::CapabilityTaskNode;
pub use capture_target::CaptureTargetNode;
pub use estop::EstopActiveNode;
pub use go_to_location::GoToLocationNode;
pub use movement::{MoveNode, StopNode, WanderNode};
pub use navigation::{CheckArrivalNode, FollowPathNode, PlanPathNode};
pub use sensing::SensorCheckNode;
pub use set_capability_target::SetCapabilityTargetNode;
pub use set_go_to_location_target::SetGoToLocationTargetNode;
pub use timing::{IdleNode, PauseNode, TimerNode};

use crate::{BoxedBehavior, NodeRegistry};
use serde_json::Value;

macro_rules! register_action {
    ($registry:expr, $name:literal, $node_type:ty) => {
        $registry.register($name, |config: Value| -> anyhow::Result<BoxedBehavior> {
            Ok(Box::new(<$node_type>::from_json(config)?))
        });
    };
}

/// Register all built-in action nodes with a registry.
pub fn register_builtin_actions(registry: &mut NodeRegistry) {
    register_action!(registry, "wander", WanderNode);
    register_action!(registry, "move", MoveNode);
    register_action!(registry, "sensor_check", SensorCheckNode);
    register_action!(registry, "timer", TimerNode);
    register_action!(registry, "idle", IdleNode);
    register_action!(registry, "pause", PauseNode);
    register_action!(registry, "stop", StopNode);
    register_action!(registry, "estop_active", EstopActiveNode);
    register_action!(registry, "plan_path", PlanPathNode);
    register_action!(registry, "follow_path", FollowPathNode);
    register_action!(registry, "check_arrival", CheckArrivalNode);
    register_action!(registry, "capability_task", CapabilityTaskNode);
    register_action!(registry, "set_capability_target", SetCapabilityTargetNode);
    register_action!(registry, "capture_target", CaptureTargetNode);
    register_action!(registry, "go_to_location", GoToLocationNode);
    register_action!(registry, "set_go_to_location_target", SetGoToLocationTargetNode);
}