Crate mecha10_behavior_runtime

Source

Expand description

Mecha10 Behavior Runtime

Unified behavior composition system for robotics and AI: behavior logic is Rust code

Re-exports§

pub use actions::register_builtin_actions;
pub use actions::LandNode;
pub use actions::MoveNode;
pub use actions::RlTaskNode;
pub use actions::SensorCheckNode;
pub use actions::SetRlTargetNode;
pub use actions::TakeoffNode;
pub use actions::TimerNode;
pub use actions::WanderNode;
pub use config::detect_project_root;
pub use config::get_current_environment;
pub use config::list_available_behaviors;
pub use config::load_behavior_config;
pub use config::resolve_behavior_config_path;
pub use config::validate_behavior_composition_json;
pub use config::validate_behavior_config;
pub use config::BehaviorConfig;
pub use config::CompositionConfig;
pub use config::NodeConfig;
pub use config::NodeReference;
pub use config::ParallelPolicyConfig;
pub use config::SubsumptionLayerConfig;
pub use config::ValidationResult;
pub use control::PidController;
pub use control::PidGains;

Modules§

actions: Built-in action nodes for behavior trees.
config: Configuration management for behavior trees
control: Reusable control-loop primitives shared by behaviour action nodes.
hot_reload: Hot-reload functionality for behavior trees during development.
prelude

Macros§

children_mut_via_wrapped_behavior
reset_child_statuses_field
reset_index_field

Structs§

BehaviorExecutor
BehaviorLoader
Context
ExecutionContext
ExecutionStats
ForceFailureNode: Always reports Failure once its child resolves, regardless of whether the child actually succeeded or failed; Running passes through unchanged. The mirror of ForceSuccessNode, useful inside a Selector to force a fallback to the next option.
ForceSuccessNode: Always reports Success once its child resolves, regardless of whether the child actually succeeded or failed; Running passes through unchanged. Useful for an optional step whose failure shouldn’t abort the rest of a Sequence.
InverterNode: Negates a Success/Failure result from its single child; Running passes through unchanged. The canonical decorator for turning a “condition” leaf/subtree into its opposite (e.g. “target NOT in range”) without duplicating the underlying check.
NodeRegistry
ParallelNode
RepeatNode: Re-runs its child every time it succeeds, up to an optional fixed count; a Failure from the child always ends the loop immediately with Failure. count: None repeats indefinitely (e.g. a patrol leg re-run forever until something fails it).
RetryNode: Re-runs its child up to max_attempts times whenever it fails, succeeding as soon as one attempt succeeds; only reports Failure once every attempt has been exhausted. The complement of RepeatNode (which loops on success).
SelectOrNode
SequenceNode
SubsumptionLayer: A single priority layer in a SubsumptionNode: a priority (higher wins) plus the behavior that implements it.
SubsumptionNode: Priority-based preemption (subsumption architecture): on each tick, tries each layer highest-priority first. The first layer whose tick() returns Running/Success “wins”; lower-priority layers aren’t ticked that cycle, preserving their internal progress.
TimeoutNode: Bounds how long its child may stay Running: once duration elapses without the child resolving, immediately reports Failure (resetting the child’s state). A child that resolves before the deadline passes its status straight through.
WatchNode: Like ParallelNode, but with no memory of a prior resolution: every child is ticked, every call, unconditionally. Needed for an interrupt-condition layer that must be re-evaluated indefinitely (e.g. the operator clicking/clearing repeatedly over a session).