mecha10_behavior_runtime/

composition.rs

//! Composition primitives for building behavior trees
//!
//! Includes Sequence, Selector, and Parallel, plus single-child decorators (Inverter,

use crate::{BehaviorNode, BoxedBehavior, NodeStatus, TreeStatusSnapshot};
use async_trait::async_trait;
use mecha10_core::config::{controller_mode, ControllerMode};
use mecha10_core::Context;
use rand::rngs::StdRng;
use rand::{RngExt, SeedableRng};
use std::time::{Duration, Instant};
use tracing::{debug, info, warn};

#[derive(Debug)]
pub struct SequenceNode {
    children: Vec<BoxedBehavior>,
    current_index: usize,
    last_status: Option<NodeStatus>,
}

impl SequenceNode {
    /// Create a new sequence node with the given children.
    pub fn new(children: Vec<BoxedBehavior>) -> Self {
        Self {
            children,
            current_index: 0,
            last_status: None,
        }
    }

    /// Add a child behavior to the sequence.
    pub fn add_child(&mut self, child: BoxedBehavior) {
        self.children.push(child);
    }

    /// Get the number of children.
    pub fn len(&self) -> usize {
        self.children.len()
    }

    /// Check if the sequence is empty.
    pub fn is_empty(&self) -> bool {
        self.children.is_empty()
    }
}

#[async_trait]
impl BehaviorNode for SequenceNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.children.is_empty() {
            self.last_status = Some(NodeStatus::Success);
            return Ok(NodeStatus::Success);
        }

        let total_children = self.children.len();
        while self.current_index < total_children {
            debug!(
                "Sequence: ticking child {} of {}",
                self.current_index + 1,
                total_children
            );

            let child = &mut self.children[self.current_index];
            match child.tick(ctx).await? {
                NodeStatus::Success => {
                    self.current_index += 1;
                }
                NodeStatus::Failure => {
                    debug!("Sequence: child {} failed", self.current_index + 1);
                    self.last_status = Some(NodeStatus::Failure);
                    return Ok(NodeStatus::Failure);
                }
                NodeStatus::Running => {
                    self.last_status = Some(NodeStatus::Running);
                    return Ok(NodeStatus::Running);
                }
            }
        }

        debug!("Sequence: all children succeeded");
        self.last_status = Some(NodeStatus::Success);
        Ok(NodeStatus::Success)
    }

    crate::reset_index_field!(current_index);

    fn name(&self) -> &str {
        "sequence"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        crate::boxed_children_mut(self.children.iter_mut())
    }

    fn active_capability(&self) -> Option<&str> {
        self.children
            .get(self.current_index)
            .and_then(|c| c.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.children.iter().map(|c| c.status_snapshot()).collect(),
        }
    }
}

#[derive(Debug)]
pub struct SelectOrNode {
    children: Vec<BoxedBehavior>,
    current_index: usize,
    last_status: Option<NodeStatus>,
}

impl SelectOrNode {
    /// Create a new selector node with the given children.
    pub fn new(children: Vec<BoxedBehavior>) -> Self {
        Self {
            children,
            current_index: 0,
            last_status: None,
        }
    }

    /// Add a child behavior to the selector.
    pub fn add_child(&mut self, child: BoxedBehavior) {
        self.children.push(child);
    }

    /// Get the number of children.
    pub fn len(&self) -> usize {
        self.children.len()
    }

    /// Check if the selector is empty.
    pub fn is_empty(&self) -> bool {
        self.children.is_empty()
    }
}

#[async_trait]
impl BehaviorNode for SelectOrNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.children.is_empty() {
            self.last_status = Some(NodeStatus::Failure);
            return Ok(NodeStatus::Failure);
        }

        let total_children = self.children.len();
        while self.current_index < total_children {
            debug!(
                "Selector: ticking child {} of {}",
                self.current_index + 1,
                total_children
            );

            let child = &mut self.children[self.current_index];
            match child.tick(ctx).await? {
                NodeStatus::Success => {
                    debug!("Selector: child {} succeeded", self.current_index + 1);
                    self.last_status = Some(NodeStatus::Success);
                    return Ok(NodeStatus::Success);
                }
                NodeStatus::Failure => {
                    warn!("Selector: child {} failed, trying next", self.current_index + 1);
                    self.current_index += 1;
                }
                NodeStatus::Running => {
                    self.last_status = Some(NodeStatus::Running);
                    return Ok(NodeStatus::Running);
                }
            }
        }

        debug!("Selector: all children failed");
        self.last_status = Some(NodeStatus::Failure);
        Ok(NodeStatus::Failure)
    }

    crate::reset_index_field!(current_index);

    fn name(&self) -> &str {
        "selector"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        crate::boxed_children_mut(self.children.iter_mut())
    }

    fn active_capability(&self) -> Option<&str> {
        self.children
            .get(self.current_index)
            .and_then(|c| c.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.children.iter().map(|c| c.status_snapshot()).collect(),
        }
    }
}

/// Like [`SelectOrNode`] (ticks children until one returns non-`Failure`), but instead of always
/// trying children in a fixed index order, each tick-cycle picks the next untried child via a
/// weighted-random draw among children not yet tried THIS resolution cycle. A weight of `0.0` (or
/// negative) means that child is never picked. Once a child is chosen it is "sticky": while it
/// reports `Running`, the next `tick()` re-ticks that same child rather than re-rolling - only
/// once it resolves does the node either return (on `Success`) or roll again among the remaining
/// untried children (on `Failure`), mirroring `SelectOrNode::current_index`'s "resume where we
/// left off" behavior, just with a random rather than fixed starting point each cycle.
#[derive(Debug)]
pub struct WeightedSelectNode {
    children: Vec<BoxedBehavior>,
    weights: Vec<f64>,
    /// Which children have already been tried (and failed) this resolution cycle - cleared
    /// whenever the node resolves (`Success`, or `Failure` once every eligible child is
    /// exhausted).
    tried: Vec<bool>,
    /// The child currently being ticked, if one was chosen and hasn't resolved yet. `None` means
    /// the next `tick()` must roll for a new child.
    current_index: Option<usize>,
    rng: StdRng,
    last_status: Option<NodeStatus>,
}

impl WeightedSelectNode {
    /// Create a new weighted selector from `(weight, child)` pairs, using a freshly OS-seeded
    /// RNG. Negative weights are clamped to `0.0` (never picked).
    pub fn new(weighted_children: Vec<(f64, BoxedBehavior)>) -> Self {
        Self::with_rng(weighted_children, StdRng::from_rng(&mut rand::rng()))
    }

    /// Create a new weighted selector using the given RNG - the injection point tests use for
    /// deterministic behavior (e.g. `StdRng::seed_from_u64(seed)`).
    pub fn with_rng(weighted_children: Vec<(f64, BoxedBehavior)>, rng: StdRng) -> Self {
        let mut weights = Vec::with_capacity(weighted_children.len());
        let mut children = Vec::with_capacity(weighted_children.len());
        for (weight, child) in weighted_children {
            weights.push(weight.max(0.0));
            children.push(child);
        }
        let tried = vec![false; children.len()];

        Self {
            children,
            weights,
            tried,
            current_index: None,
            rng,
            last_status: None,
        }
    }

    /// Get the number of children.
    pub fn len(&self) -> usize {
        self.children.len()
    }

    /// Check if the selector is empty.
    pub fn is_empty(&self) -> bool {
        self.children.is_empty()
    }

    /// Weighted-random draw among children that are both untried this cycle and have a positive
    /// weight - `None` once no eligible child remains.
    fn pick_next(&mut self) -> Option<usize> {
        let candidates: Vec<usize> = (0..self.children.len())
            .filter(|&i| !self.tried[i] && self.weights[i] > 0.0)
            .collect();

        let total: f64 = candidates.iter().map(|&i| self.weights[i]).sum();
        if candidates.is_empty() || total <= 0.0 {
            return None;
        }

        let mut draw = self.rng.random::<f64>() * total;
        for &i in &candidates {
            draw -= self.weights[i];
            if draw <= 0.0 {
                return Some(i);
            }
        }

        // Floating-point rounding may leave a tiny positive remainder; fall back to the last
        // candidate rather than returning None and spuriously failing the selection.
        candidates.last().copied()
    }
}

#[async_trait]
impl BehaviorNode for WeightedSelectNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.children.is_empty() {
            self.last_status = Some(NodeStatus::Failure);
            return Ok(NodeStatus::Failure);
        }

        loop {
            let idx = match self.current_index {
                Some(idx) => idx,
                None => match self.pick_next() {
                    Some(idx) => idx,
                    None => {
                        debug!("WeightedSelect: no eligible child remains, failing");
                        self.tried.iter_mut().for_each(|t| *t = false);
                        self.last_status = Some(NodeStatus::Failure);
                        return Ok(NodeStatus::Failure);
                    }
                },
            };

            self.current_index = Some(idx);
            self.tried[idx] = true;

            let child = &mut self.children[idx];
            match child.tick(ctx).await? {
                NodeStatus::Success => {
                    debug!("WeightedSelect: child {} succeeded", idx);
                    self.current_index = None;
                    self.tried.iter_mut().for_each(|t| *t = false);
                    self.last_status = Some(NodeStatus::Success);
                    return Ok(NodeStatus::Success);
                }
                NodeStatus::Failure => {
                    debug!("WeightedSelect: child {} failed, rolling again", idx);
                    self.current_index = None;
                }
                NodeStatus::Running => {
                    self.last_status = Some(NodeStatus::Running);
                    return Ok(NodeStatus::Running);
                }
            }
        }
    }

    fn reset_self(&mut self) {
        self.current_index = None;
        self.tried.iter_mut().for_each(|t| *t = false);
    }

    fn name(&self) -> &str {
        "weighted_select"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        crate::boxed_children_mut(self.children.iter_mut())
    }

    fn active_capability(&self) -> Option<&str> {
        self.current_index
            .and_then(|i| self.children.get(i))
            .and_then(|c| c.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.children.iter().map(|c| c.status_snapshot()).collect(),
        }
    }
}

#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum ParallelPolicy {
    RequireAll,

    RequireOne,

    RequireN(usize),
}

#[derive(Debug)]
pub struct ParallelNode {
    children: Vec<BoxedBehavior>,
    policy: ParallelPolicy,
    child_statuses: Vec<NodeStatus>,
    last_status: Option<NodeStatus>,
}

impl ParallelNode {
    /// Create a new parallel node with the given children and policy.
    pub fn new(children: Vec<BoxedBehavior>, policy: ParallelPolicy) -> Self {
        let child_statuses = vec![NodeStatus::Running; children.len()];
        Self {
            children,
            policy,
            child_statuses,
            last_status: None,
        }
    }

    /// Add a child behavior to the parallel node.
    pub fn add_child(&mut self, child: BoxedBehavior) {
        self.children.push(child);
        self.child_statuses.push(NodeStatus::Running);
    }

    /// Get the number of children.
    pub fn len(&self) -> usize {
        self.children.len()
    }

    /// Check if the parallel node is empty.
    pub fn is_empty(&self) -> bool {
        self.children.is_empty()
    }
}

#[async_trait]
impl BehaviorNode for ParallelNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.children.is_empty() {
            self.last_status = Some(NodeStatus::Success);
            return Ok(NodeStatus::Success);
        }

        for (i, child) in self.children.iter_mut().enumerate() {
            if self.child_statuses[i].is_running() {
                let status = child.tick(ctx).await?;
                self.child_statuses[i] = status;
                debug!("Parallel: child {} status: {}", i + 1, status);
            }
        }

        let success_count = self.child_statuses.iter().filter(|s| s.is_success()).count();
        let failure_count = self.child_statuses.iter().filter(|s| s.is_failure()).count();
        let _running_count = self.child_statuses.iter().filter(|s| s.is_running()).count();

        let status = match self.policy {
            ParallelPolicy::RequireAll => {
                if failure_count > 0 {
                    debug!("Parallel (RequireAll): at least one child failed");
                    NodeStatus::Failure
                } else if success_count == self.children.len() {
                    debug!("Parallel (RequireAll): all children succeeded");
                    NodeStatus::Success
                } else {
                    NodeStatus::Running
                }
            }
            ParallelPolicy::RequireOne => {
                if success_count > 0 {
                    debug!("Parallel (RequireOne): at least one child succeeded");
                    NodeStatus::Success
                } else if failure_count == self.children.len() {
                    debug!("Parallel (RequireOne): all children failed");
                    NodeStatus::Failure
                } else {
                    NodeStatus::Running
                }
            }
            ParallelPolicy::RequireN(n) => {
                if success_count >= n {
                    debug!("Parallel (RequireN({})): {} children succeeded", n, success_count);
                    NodeStatus::Success
                } else if (self.children.len() - failure_count) < n {
                    debug!("Parallel (RequireN({})): not enough children can succeed", n);
                    NodeStatus::Failure
                } else {
                    NodeStatus::Running
                }
            }
        };

        self.last_status = Some(status);
        Ok(status)
    }

    crate::reset_child_statuses_field!(child_statuses);

    fn name(&self) -> &str {
        "parallel"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        crate::boxed_children_mut(self.children.iter_mut())
    }

    /// The first still-`Running` child's capability, if any - "first" is an arbitrary but
    /// deterministic tie-break since at most one running child is expected to declare one.
    fn active_capability(&self) -> Option<&str> {
        self.children
            .iter()
            .zip(self.child_statuses.iter())
            .find(|(_, status)| status.is_running())
            .and_then(|(child, _)| child.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.children.iter().map(|c| c.status_snapshot()).collect(),
        }
    }
}

/// 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).
#[derive(Debug)]
pub struct WatchNode {
    children: Vec<BoxedBehavior>,
    policy: ParallelPolicy,
    last_active: Option<usize>,
    last_status: Option<NodeStatus>,
}

impl WatchNode {
    /// Create a new watch node with the given children and policy.
    pub fn new(children: Vec<BoxedBehavior>, policy: ParallelPolicy) -> Self {
        Self {
            children,
            policy,
            last_active: None,
            last_status: None,
        }
    }

    /// Add a child behavior to the watch node.
    pub fn add_child(&mut self, child: BoxedBehavior) {
        self.children.push(child);
    }

    /// Get the number of children.
    pub fn len(&self) -> usize {
        self.children.len()
    }

    /// Check if the watch node is empty.
    pub fn is_empty(&self) -> bool {
        self.children.is_empty()
    }
}

#[async_trait]
impl BehaviorNode for WatchNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.children.is_empty() {
            self.last_active = None;
            self.last_status = Some(NodeStatus::Failure);
            return Ok(NodeStatus::Failure);
        }

        let mut statuses = Vec::with_capacity(self.children.len());
        for child in &mut self.children {
            statuses.push(child.tick(ctx).await?);
        }

        self.last_active = statuses.iter().position(|s| s.is_running());

        let success_count = statuses.iter().filter(|s| s.is_success()).count();
        let failure_count = statuses.iter().filter(|s| s.is_failure()).count();

        let status = match self.policy {
            ParallelPolicy::RequireAll => {
                if failure_count > 0 {
                    debug!("Watch (RequireAll): at least one child failed");
                    NodeStatus::Failure
                } else if success_count == self.children.len() {
                    debug!("Watch (RequireAll): all children succeeded");
                    NodeStatus::Success
                } else {
                    NodeStatus::Running
                }
            }
            ParallelPolicy::RequireOne => {
                if success_count > 0 {
                    debug!("Watch (RequireOne): at least one child succeeded");
                    NodeStatus::Success
                } else if failure_count == self.children.len() {
                    debug!("Watch (RequireOne): all children failed");
                    NodeStatus::Failure
                } else {
                    NodeStatus::Running
                }
            }
            ParallelPolicy::RequireN(n) => {
                if success_count >= n {
                    debug!("Watch (RequireN({})): {} children succeeded", n, success_count);
                    NodeStatus::Success
                } else if (self.children.len() - failure_count) < n {
                    debug!("Watch (RequireN({})): not enough children can succeed", n);
                    NodeStatus::Failure
                } else {
                    NodeStatus::Running
                }
            }
        };

        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "watch"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        crate::boxed_children_mut(self.children.iter_mut())
    }

    /// Unlike Sequence/Selector/Parallel, every child here is ticked every time with no persisted
    /// statuses to read after the fact - `tick()` records which child resolved `Running` *this*
    /// call into `last_active`, and this forwards to that child.
    fn active_capability(&self) -> Option<&str> {
        self.last_active
            .and_then(|i| self.children.get(i))
            .and_then(|child| child.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.children.iter().map(|c| c.status_snapshot()).collect(),
        }
    }
}

/// A single priority layer in a [`SubsumptionNode`]: a priority (higher wins) plus the behavior
/// that implements it.
#[derive(Debug)]
pub struct SubsumptionLayer {
    pub priority: u8,
    pub behavior: BoxedBehavior,
    pub name: Option<String>,
}

impl SubsumptionLayer {
    mecha10_core::new_with_defaults!(
        /// Create a new subsumption layer.
        pub fn new(priority: u8, behavior: BoxedBehavior) -> Self {
            name: None
        }
    );

    mecha10_core::builder_setter!(into_some, with_name, name, impl Into<String>);
}

/// 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.
#[derive(Debug)]
pub struct SubsumptionNode {
    pub layers: Vec<SubsumptionLayer>,
    last_winning_layer: Option<usize>,
    last_status: Option<NodeStatus>,
}

impl SubsumptionNode {
    /// Create a new empty subsumption node.
    pub fn new() -> Self {
        Self {
            layers: Vec::new(),
            last_winning_layer: None,
            last_status: None,
        }
    }

    /// Add a layer with the given priority and behavior.
    ///
    /// Layers are automatically sorted by priority (highest first).
    pub fn add_layer(mut self, priority: u8, behavior: BoxedBehavior) -> Self {
        self.layers.push(SubsumptionLayer::new(priority, behavior));
        self.layers.sort_by_key(|b| std::cmp::Reverse(b.priority));
        self
    }
}

impl Default for SubsumptionNode {
    fn default() -> Self {
        Self::new()
    }
}

#[async_trait]
impl BehaviorNode for SubsumptionNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.layers.is_empty() {
            self.last_winning_layer = None;
            self.last_status = Some(NodeStatus::Failure);
            return Ok(NodeStatus::Failure);
        }

        for (i, layer) in self.layers.iter_mut().enumerate() {
            let layer_name = layer.name.as_deref().unwrap_or("unnamed");

            debug!(
                "Subsumption: trying layer '{}' (priority {})",
                layer_name, layer.priority
            );

            let status = layer.behavior.tick(ctx).await?;

            match status {
                NodeStatus::Success | NodeStatus::Running => {
                    info!(
                        "Subsumption: layer '{}' (priority {}) taking control with status {}",
                        layer_name, layer.priority, status
                    );
                    self.last_winning_layer = Some(i);
                    self.last_status = Some(status);
                    return Ok(status);
                }
                NodeStatus::Failure => {
                    debug!("Subsumption: layer '{}' failed, trying next layer", layer_name);
                    continue;
                }
            }
        }

        debug!("Subsumption: all layers failed");
        self.last_winning_layer = None;
        self.last_status = Some(NodeStatus::Failure);
        Ok(NodeStatus::Failure)
    }

    fn name(&self) -> &str {
        "subsumption"
    }

    crate::children_mut_via_wrapped_behavior!(layers, layer);

    /// Forwards the winning layer's capability (the highest-priority layer whose `tick()`
    /// returned `Running`/`Success` this call) - `None` if every layer failed. Tracked separately
    /// via `last_winning_layer` since it isn't otherwise recoverable after `tick()` returns.
    fn active_capability(&self) -> Option<&str> {
        self.last_winning_layer
            .and_then(|i| self.layers.get(i))
            .and_then(|layer| layer.behavior.active_capability())
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: self.layers.iter().map(|l| l.behavior.status_snapshot()).collect(),
        }
    }
}

/// Which [`ControllerMode`] variant a [`ConditionKind::ControllerModeIs`] predicate matches - the
/// variant only, since `ControllerMode::Joints`'s joint-name list is irrelevant to the check.
/// Deliberately mirrors [`ControllerMode`]'s own variant names (and
/// [`mecha10_core::node::Capability::Locomotion`]/`Joints`) rather than inventing a parallel
/// vocabulary.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum ControllerModeKind {
    Locomotion,
    Joints,
}

/// A predicate a [`ConditionNode`] evaluates against live project/robot state before deciding
/// whether to tick its child. Deliberately a small, closed enum rather than a general expression
/// language: add a variant here when a genuinely new predicate is needed. Starts with just the
/// two controller-mode checks `patrol` needs today, but is reusable infrastructure - any behavior
/// tree can gate a subtree on one of these without a bespoke composite node.
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum ConditionKind {
    /// True when the project's current [`mecha10_core::config::controller_mode`] is the given
    /// variant - the same capability-based dispatch `wander`/`move` leaf nodes already use (see
    /// `actions/movement.rs`'s `resolve_movement_output`), exposed as a composition-level gate so
    /// an entire subtree can be made conditional on the project's actuation surface.
    ControllerModeIs(ControllerModeKind),
}

impl ConditionKind {
    /// Evaluate this predicate against the current process/project state.
    fn evaluate(&self) -> bool {
        match self {
            ConditionKind::ControllerModeIs(kind) => {
                let current = match controller_mode() {
                    ControllerMode::Locomotion => ControllerModeKind::Locomotion,
                    ControllerMode::Joints { .. } => ControllerModeKind::Joints,
                };
                current == *kind
            }
        }
    }
}

/// Single-child decorator that gates its child on a [`ConditionKind`] predicate: it evaluates the
/// predicate FIRST and only ticks the child (forwarding the child's status unchanged) while the
/// predicate holds; when the predicate is false it reports `Failure` WITHOUT ticking the child at
/// all.
///
/// Dropping several of these into a [`SelectOrNode`] gives capability- or state-gated branch
/// selection out of a small, reusable building block: `SelectOrNode` already advances past any
/// child that returns `Failure`, so a false condition naturally falls through to the next option
/// without ever running its subtree. A smaller, more composable primitive than a bespoke
/// branch-on-capability composite node, and it fits the existing decorator pattern
/// ([`InverterNode`]/[`ForceSuccessNode`]/[`ForceFailureNode`]).
#[derive(Debug)]
pub struct ConditionNode {
    condition: ConditionKind,
    child: BoxedBehavior,
    last_status: Option<NodeStatus>,
}

impl ConditionNode {
    /// Create a new condition node gating `child` on `condition`.
    pub fn new(condition: ConditionKind, child: BoxedBehavior) -> Self {
        Self {
            condition,
            child,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for ConditionNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let status = if self.condition.evaluate() {
            self.child.tick(ctx).await?
        } else {
            debug!(
                "Condition: predicate {:?} is false, returning Failure without ticking child",
                self.condition
            );
            NodeStatus::Failure
        };

        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "condition"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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.
#[derive(Debug)]
pub struct InverterNode {
    child: BoxedBehavior,
    last_status: Option<NodeStatus>,
}

impl InverterNode {
    /// Create a new inverter node wrapping `child`.
    pub fn new(child: BoxedBehavior) -> Self {
        Self {
            child,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for InverterNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let status = match self.child.tick(ctx).await? {
            NodeStatus::Success => NodeStatus::Failure,
            NodeStatus::Failure => NodeStatus::Success,
            NodeStatus::Running => NodeStatus::Running,
        };
        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "inverter"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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`.
#[derive(Debug)]
pub struct ForceSuccessNode {
    child: BoxedBehavior,
    last_status: Option<NodeStatus>,
}

impl ForceSuccessNode {
    /// Create a new force-success node wrapping `child`.
    pub fn new(child: BoxedBehavior) -> Self {
        Self {
            child,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for ForceSuccessNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let status = match self.child.tick(ctx).await? {
            NodeStatus::Running => NodeStatus::Running,
            NodeStatus::Success | NodeStatus::Failure => NodeStatus::Success,
        };
        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "force_success"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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.
#[derive(Debug)]
pub struct ForceFailureNode {
    child: BoxedBehavior,
    last_status: Option<NodeStatus>,
}

impl ForceFailureNode {
    /// Create a new force-failure node wrapping `child`.
    pub fn new(child: BoxedBehavior) -> Self {
        Self {
            child,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for ForceFailureNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let status = match self.child.tick(ctx).await? {
            NodeStatus::Running => NodeStatus::Running,
            NodeStatus::Success | NodeStatus::Failure => NodeStatus::Failure,
        };
        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "force_failure"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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).
#[derive(Debug)]
pub struct RepeatNode {
    child: BoxedBehavior,
    count: Option<u32>,
    completed: u32,
    last_status: Option<NodeStatus>,
}

impl RepeatNode {
    /// Create a new repeat node wrapping `child`. `count: None` repeats indefinitely.
    pub fn new(child: BoxedBehavior, count: Option<u32>) -> Self {
        Self {
            child,
            count,
            completed: 0,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for RepeatNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if let Some(count) = self.count {
            if self.completed >= count {
                self.last_status = Some(NodeStatus::Success);
                return Ok(NodeStatus::Success);
            }
        }

        let status = match self.child.tick(ctx).await? {
            NodeStatus::Success => {
                self.completed += 1;
                self.child.reset().await?;

                match self.count {
                    Some(count) if self.completed >= count => NodeStatus::Success,
                    _ => NodeStatus::Running,
                }
            }
            NodeStatus::Failure => NodeStatus::Failure,
            NodeStatus::Running => NodeStatus::Running,
        };

        self.last_status = Some(status);
        Ok(status)
    }

    fn reset_self(&mut self) {
        self.completed = 0;
    }

    fn name(&self) -> &str {
        "repeat"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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).
#[derive(Debug)]
pub struct RetryNode {
    child: BoxedBehavior,
    max_attempts: u32,
    attempts: u32,
    last_status: Option<NodeStatus>,
}

impl RetryNode {
    /// Create a new retry node wrapping `child`, allowing up to `max_attempts` tries (must be at
    /// least 1).
    pub fn new(child: BoxedBehavior, max_attempts: u32) -> Self {
        Self {
            child,
            max_attempts: max_attempts.max(1),
            attempts: 0,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for RetryNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let status = match self.child.tick(ctx).await? {
            NodeStatus::Success => NodeStatus::Success,
            NodeStatus::Running => NodeStatus::Running,
            NodeStatus::Failure => {
                self.attempts += 1;
                if self.attempts >= self.max_attempts {
                    debug!("Retry: child failed after {} attempt(s), giving up", self.attempts);
                    NodeStatus::Failure
                } else {
                    debug!(
                        "Retry: child failed on attempt {} of {}, retrying",
                        self.attempts, self.max_attempts
                    );
                    self.child.reset().await?;
                    NodeStatus::Running
                }
            }
        };

        self.last_status = Some(status);
        Ok(status)
    }

    fn reset_self(&mut self) {
        self.attempts = 0;
    }

    fn name(&self) -> &str {
        "retry"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// 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.
#[derive(Debug)]
pub struct TimeoutNode {
    child: BoxedBehavior,
    duration: Duration,
    start_time: Option<Instant>,
    last_status: Option<NodeStatus>,
}

impl TimeoutNode {
    /// Create a new timeout node wrapping `child`, bounding it to `duration`.
    pub fn new(child: BoxedBehavior, duration: Duration) -> Self {
        Self {
            child,
            duration,
            start_time: None,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for TimeoutNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        let now = Instant::now();
        let start = *self.start_time.get_or_insert(now);

        if now.duration_since(start) >= self.duration {
            warn!("Timeout: child did not resolve within {:?}, failing", self.duration);
            self.start_time = None;
            self.child.reset().await?;
            self.last_status = Some(NodeStatus::Failure);
            return Ok(NodeStatus::Failure);
        }

        let status = self.child.tick(ctx).await?;
        if status.is_complete() {
            self.start_time = None;
        }
        self.last_status = Some(status);
        Ok(status)
    }

    fn reset_self(&mut self) {
        self.start_time = None;
    }

    fn name(&self) -> &str {
        "timeout"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

/// Bounds the GAP between runs of its child, the complement of [`TimeoutNode`] (which bounds how
/// long a single run may stay `Running`). Once the child returns a terminal result (`Success` or
/// `Failure`), this node refuses to re-tick it for `cooldown`: during that window `tick()`
/// returns `Failure` immediately WITHOUT ticking the child at all. Once the window elapses,
/// ticking resumes normally. A child that returns `Running` doesn't start the cooldown clock -
/// only a terminal result does.
#[derive(Debug)]
pub struct CooldownNode {
    child: BoxedBehavior,
    cooldown: Duration,
    /// Set to the instant the cooldown window ends whenever the child resolves; `None` means no
    /// cooldown is in effect (either the child has never resolved, or the window already elapsed
    /// and was cleared).
    cooldown_until: Option<Instant>,
    last_status: Option<NodeStatus>,
}

impl CooldownNode {
    /// Create a new cooldown node wrapping `child`, refusing to re-tick it for `cooldown` after
    /// it last resolved.
    pub fn new(child: BoxedBehavior, cooldown: Duration) -> Self {
        Self {
            child,
            cooldown,
            cooldown_until: None,
            last_status: None,
        }
    }
}

#[async_trait]
impl BehaviorNode for CooldownNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if let Some(until) = self.cooldown_until {
            if Instant::now() < until {
                debug!("Cooldown: still cooling down, returning Failure without ticking child");
                self.last_status = Some(NodeStatus::Failure);
                return Ok(NodeStatus::Failure);
            }
            self.cooldown_until = None;
        }

        let status = self.child.tick(ctx).await?;
        if status.is_complete() {
            self.cooldown_until = Some(Instant::now() + self.cooldown);
        }
        self.last_status = Some(status);
        Ok(status)
    }

    fn reset_self(&mut self) {
        self.cooldown_until = None;
    }

    fn name(&self) -> &str {
        "cooldown"
    }

    fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode> {
        vec![self.child.as_mut()]
    }

    fn active_capability(&self) -> Option<&str> {
        self.child.active_capability()
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: vec![self.child.status_snapshot()],
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    #[derive(Debug, Default)]
    struct DummyBehavior;

    #[async_trait]
    impl BehaviorNode for DummyBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            unimplemented!("not exercised by these tests")
        }
    }

    #[derive(Debug)]
    struct CapabilityBehavior(&'static str);

    #[async_trait]
    impl BehaviorNode for CapabilityBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            unimplemented!("not exercised by these tests")
        }

        fn active_capability(&self) -> Option<&str> {
            Some(self.0)
        }
    }

    #[test]
    fn sequence_children_mut_exposes_every_child() {
        let mut node = SequenceNode::new(vec![Box::new(DummyBehavior), Box::new(DummyBehavior)]);
        assert_eq!(node.children_mut().len(), 2);
    }

    #[tokio::test]
    async fn sequence_reset_rewinds_current_index() {
        let mut node = SequenceNode::new(vec![Box::new(DummyBehavior)]);
        node.current_index = 1;

        node.reset().await.unwrap();

        assert_eq!(node.current_index, 0);
    }

    #[test]
    fn selector_children_mut_exposes_every_child() {
        let mut node = SelectOrNode::new(vec![Box::new(DummyBehavior), Box::new(DummyBehavior)]);
        assert_eq!(node.children_mut().len(), 2);
    }

    #[tokio::test]
    async fn selector_reset_rewinds_current_index() {
        let mut node = SelectOrNode::new(vec![Box::new(DummyBehavior)]);
        node.current_index = 1;

        node.reset().await.unwrap();

        assert_eq!(node.current_index, 0);
    }

    #[test]
    fn parallel_children_mut_exposes_every_child() {
        let mut node = ParallelNode::new(
            vec![Box::new(DummyBehavior), Box::new(DummyBehavior)],
            ParallelPolicy::RequireAll,
        );
        assert_eq!(node.children_mut().len(), 2);
    }

    #[tokio::test]
    async fn parallel_reset_clears_child_statuses_back_to_running() {
        let mut node = ParallelNode::new(vec![Box::new(DummyBehavior)], ParallelPolicy::RequireAll);
        node.child_statuses[0] = NodeStatus::Success;

        node.reset().await.unwrap();

        assert_eq!(node.child_statuses[0], NodeStatus::Running);
    }

    #[test]
    fn sequence_forwards_the_current_childs_active_capability() {
        let node = SequenceNode::new(vec![Box::new(CapabilityBehavior("rl")), Box::new(DummyBehavior)]);
        assert_eq!(node.active_capability(), Some("rl"));
    }

    #[test]
    fn sequence_has_no_active_capability_once_past_the_declaring_child() {
        let mut node = SequenceNode::new(vec![Box::new(CapabilityBehavior("rl")), Box::new(DummyBehavior)]);
        node.current_index = 1;
        assert_eq!(node.active_capability(), None);
    }

    #[test]
    fn sequence_status_snapshot_is_none_before_any_tick() {
        let node = SequenceNode::new(vec![Box::new(DummyBehavior)]);
        let snapshot = node.status_snapshot();
        assert_eq!(snapshot.status, None);
        assert_eq!(snapshot.name, "sequence");
        assert_eq!(
            snapshot.children.len(),
            1,
            "children must still be recursed into pre-tick"
        );
    }

    /// The core `status_snapshot()` contract for a composite node: the reported `status` must
    /// match exactly what `tick()` itself returned, and `children` must recursively include each
    /// child's own snapshot (here, `StatusAndCapabilityBehavior` - defined below for the
    /// `SubsumptionNode` tests - doubling as a simple fixed-status child).
    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn sequence_status_snapshot_matches_the_last_tick_result_and_recurses_into_children() {
        let ctx = crate::test_helpers::create_test_context("sequence_status_snapshot").await;
        let mut node = SequenceNode::new(vec![Box::new(StatusAndCapabilityBehavior {
            status: NodeStatus::Success,
            capability: "rl",
        })]);

        let status = node.tick(&ctx).await.unwrap();
        assert_eq!(status, NodeStatus::Success);

        let snapshot = node.status_snapshot();
        assert_eq!(snapshot.status, Some(status));
        assert_eq!(snapshot.name, "sequence");
        assert_eq!(
            snapshot.active_capability, None,
            "the only child already succeeded and was advanced past, so no capability is active"
        );
        assert_eq!(snapshot.children.len(), 1);
    }

    #[test]
    fn selector_forwards_the_current_childs_active_capability() {
        let node = SelectOrNode::new(vec![Box::new(CapabilityBehavior("rl")), Box::new(DummyBehavior)]);
        assert_eq!(node.active_capability(), Some("rl"));
    }

    #[test]
    fn parallel_forwards_the_first_running_childs_active_capability() {
        let mut node = ParallelNode::new(
            vec![Box::new(CapabilityBehavior("rl")), Box::new(DummyBehavior)],
            ParallelPolicy::RequireAll,
        );
        node.child_statuses[0] = NodeStatus::Success;
        assert_eq!(
            node.active_capability(),
            None,
            "a non-running child's capability must not be reported"
        );
    }

    /// A child whose status changes from tick to tick (e.g. a target that comes and goes), used
    /// to prove `WatchNode` re-evaluates every call instead of freezing like `ParallelNode`.
    #[derive(Debug)]
    struct SequencedStatusBehavior {
        statuses: Vec<NodeStatus>,
        index: usize,
        tick_count: usize,
        capability: Option<&'static str>,
    }

    impl SequencedStatusBehavior {
        fn new(statuses: Vec<NodeStatus>) -> Self {
            Self {
                statuses,
                index: 0,
                tick_count: 0,
                capability: None,
            }
        }

        fn with_capability(statuses: Vec<NodeStatus>, capability: &'static str) -> Self {
            Self {
                capability: Some(capability),
                ..Self::new(statuses)
            }
        }
    }

    #[async_trait]
    impl BehaviorNode for SequencedStatusBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            self.tick_count += 1;
            let status = self.statuses[self.index.min(self.statuses.len() - 1)];
            if self.index + 1 < self.statuses.len() {
                self.index += 1;
            }
            Ok(status)
        }

        fn active_capability(&self) -> Option<&str> {
            self.capability
        }
    }

    #[test]
    fn watch_children_mut_exposes_every_child() {
        let mut node = WatchNode::new(
            vec![Box::new(DummyBehavior), Box::new(DummyBehavior)],
            ParallelPolicy::RequireOne,
        );
        assert_eq!(node.children_mut().len(), 2);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn watch_is_empty_returns_failure() {
        let ctx = crate::test_helpers::create_test_context("watch_empty").await;
        let mut node = WatchNode::new(vec![], ParallelPolicy::RequireOne);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);
    }

    /// Regression test: unlike `ParallelNode`, `WatchNode` has no `child_statuses` memory, so a
    /// child that flips from `Failure` to `Running` across ticks must be re-ticked every call and
    /// the aggregate status must reflect *that* tick's actual child statuses, not a stale one.
    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn watch_re_ticks_every_child_every_call_and_reflects_the_latest_statuses() {
        let ctx = crate::test_helpers::create_test_context("watch_re_ticks").await;
        let mut node = WatchNode::new(
            vec![Box::new(SequencedStatusBehavior::new(vec![
                NodeStatus::Failure,
                NodeStatus::Running,
                NodeStatus::Failure,
            ]))],
            ParallelPolicy::RequireOne,
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Failure,
            "a ParallelNode would have frozen on the first Failure and never re-ticked the child"
        );
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn watch_forwards_the_currently_running_childs_active_capability() {
        let ctx = crate::test_helpers::create_test_context("watch_capability").await;
        let mut node = WatchNode::new(
            vec![Box::new(SequencedStatusBehavior::with_capability(
                vec![NodeStatus::Running, NodeStatus::Failure],
                "instance_track",
            ))],
            ParallelPolicy::RequireOne,
        );

        node.tick(&ctx).await.unwrap();
        assert_eq!(node.active_capability(), Some("instance_track"));

        node.tick(&ctx).await.unwrap();
        assert_eq!(
            node.active_capability(),
            None,
            "a child that was running last tick and is not running this tick must not keep reporting its capability"
        );
    }

    #[test]
    fn subsumption_children_mut_exposes_every_layer_behavior() {
        let mut node = SubsumptionNode::new()
            .add_layer(10, Box::new(DummyBehavior))
            .add_layer(5, Box::new(DummyBehavior));
        assert_eq!(node.children_mut().len(), 2);
    }

    /// A double that both returns a fixed `NodeStatus` from `tick()` and declares a capability -
    /// `CapabilityBehavior` above only does the latter, so it can't exercise
    /// `SubsumptionNode::active_capability()` end-to-end through an actual `tick()` call.
    #[derive(Debug)]
    struct StatusAndCapabilityBehavior {
        status: NodeStatus,
        capability: &'static str,
    }

    #[async_trait]
    impl BehaviorNode for StatusAndCapabilityBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            Ok(self.status)
        }

        fn active_capability(&self) -> Option<&str> {
            Some(self.capability)
        }
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn subsumption_active_capability_forwards_the_winning_layers_capability() {
        let ctx = crate::test_helpers::create_test_context("subsumption_capability").await;
        let mut node = SubsumptionNode::new()
            .add_layer(
                10,
                Box::new(StatusAndCapabilityBehavior {
                    status: NodeStatus::Failure,
                    capability: "instance_track",
                }),
            )
            .add_layer(
                0,
                Box::new(StatusAndCapabilityBehavior {
                    status: NodeStatus::Running,
                    capability: "patrol",
                }),
            );

        assert_eq!(node.active_capability(), None, "no tick has happened yet");

        let status = node.tick(&ctx).await.unwrap();
        assert_eq!(
            status,
            NodeStatus::Running,
            "the high-priority layer fails, so the low layer wins"
        );
        assert_eq!(
            node.active_capability(),
            Some("patrol"),
            "active_capability must forward the winning (low-priority) layer's capability, not the failed high-priority one"
        );
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn subsumption_active_capability_none_when_all_layers_fail() {
        let ctx = crate::test_helpers::create_test_context("subsumption_capability_all_fail").await;
        let mut node =
            SubsumptionNode::new().add_layer(10, Box::new(SequencedStatusBehavior::new(vec![NodeStatus::Failure])));

        node.tick(&ctx).await.unwrap();
        assert_eq!(node.active_capability(), None);
    }

    /// A stub mimicking `CapabilityTaskNode`/`SetCapabilityTargetNode`'s (instance-track
    /// configuration) Failure-when-idle/Running-when-engaged convergence, controllable via a
    /// shared flag - zero `Context`/messaging dependency, same style as `DummyBehavior` above.
    #[derive(Debug)]
    struct ToggleableBehavior {
        engaged: std::sync::Arc<std::sync::atomic::AtomicBool>,
    }

    #[async_trait]
    impl BehaviorNode for ToggleableBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            Ok(if self.engaged.load(std::sync::atomic::Ordering::SeqCst) {
                NodeStatus::Running
            } else {
                NodeStatus::Failure
            })
        }
    }

    /// Simulates one leg of `patrol`'s timed-move sequence: `Running` for a fixed number
    /// of ticks, then `Success`. Records how many times it was ticked, so the test can observe
    /// whether a frozen `SequenceNode` child is skipped while a higher-priority layer is engaged.
    #[derive(Debug)]
    struct CountedLegBehavior {
        running_ticks_remaining: usize,
        tick_count: std::sync::Arc<std::sync::atomic::AtomicUsize>,
    }

    #[async_trait]
    impl BehaviorNode for CountedLegBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            self.tick_count.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
            if self.running_ticks_remaining == 0 {
                Ok(NodeStatus::Success)
            } else {
                self.running_ticks_remaining -= 1;
                Ok(NodeStatus::Running)
            }
        }
    }

    /// The property that matters most: a `Subsumption` tree with a `Watch`-wrapped interrupt layer
    /// must let the interrupt freeze the main layer mid-sequence, then hand control back on the
    /// *same* tick it disengages, resuming exactly where it was.
    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn subsumption_preserves_lower_layer_progress_across_an_interrupt() {
        use std::sync::atomic::{AtomicBool, AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("subsumption_resume").await;

        let engaged = Arc::new(AtomicBool::new(false));
        let leg1_ticks = Arc::new(AtomicUsize::new(0));
        let leg2_ticks = Arc::new(AtomicUsize::new(0));

        let watch = WatchNode::new(
            vec![Box::new(ToggleableBehavior {
                engaged: engaged.clone(),
            })],
            ParallelPolicy::RequireOne,
        );

        let sequence = SequenceNode::new(vec![
            Box::new(CountedLegBehavior {
                running_ticks_remaining: 2,
                tick_count: leg1_ticks.clone(),
            }),
            Box::new(CountedLegBehavior {
                running_ticks_remaining: 2,
                tick_count: leg2_ticks.clone(),
            }),
        ]);

        let mut subsumption = SubsumptionNode::new()
            .add_layer(100, Box::new(watch))
            .add_layer(0, Box::new(sequence));

        assert_eq!(subsumption.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(leg1_ticks.load(Ordering::SeqCst), 1);
        assert_eq!(subsumption.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(leg1_ticks.load(Ordering::SeqCst), 2);

        assert_eq!(subsumption.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(leg1_ticks.load(Ordering::SeqCst), 3);
        assert_eq!(leg2_ticks.load(Ordering::SeqCst), 1);

        engaged.store(true, Ordering::SeqCst);
        for _ in 0..3 {
            assert_eq!(
                subsumption.tick(&ctx).await.unwrap(),
                NodeStatus::Running,
                "the instance_track layer wins while engaged"
            );
        }
        assert_eq!(
            leg2_ticks.load(Ordering::SeqCst),
            1,
            "the main layer must be frozen (not reset, not advanced) while the interrupt layer is engaged"
        );

        engaged.store(false, Ordering::SeqCst);
        let status = subsumption.tick(&ctx).await.unwrap();
        assert_eq!(
            status,
            NodeStatus::Running,
            "handback must surface the Sequence's own status, not Success/Failure from the ceding interrupt layer"
        );
        assert_eq!(
            leg1_ticks.load(Ordering::SeqCst),
            3,
            "leg1 must not be re-ticked - the sequence was not reset"
        );
        assert_eq!(
            leg2_ticks.load(Ordering::SeqCst),
            2,
            "the Sequence resumes ticking leg2 (not leg1) - progress was preserved, not reset"
        );
    }

    /// The full 3-layer safety stack `find_target`/`patrol` wire up: a priority-255
    /// `emergency-stop-interrupt` layer above a priority-100 `instance-track-interrupt` layer
    /// above the priority-0 main layer. Proves the e-stop layer wins over BOTH lower layers
    /// (even while instance_track is itself engaged), freezes the main layer's progress while
    /// active, and on clearing hands control back exactly where it left off - the same
    /// resume-exactly-where-it-was property `subsumption_preserves_lower_layer_progress_across_an_interrupt`
    /// proves for a single interrupt layer, extended to prove the higher-priority layer also
    /// preempts an already-engaged lower-priority interrupt layer, not just the main layer.
    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn emergency_stop_layer_preempts_both_instance_track_and_the_main_layer_and_resumes_on_clear() {
        use std::sync::atomic::{AtomicBool, AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("subsumption_estop_resume").await;

        let estop_active = Arc::new(AtomicBool::new(false));
        let instance_track_engaged = Arc::new(AtomicBool::new(false));
        let leg1_ticks = Arc::new(AtomicUsize::new(0));
        let leg2_ticks = Arc::new(AtomicUsize::new(0));

        let estop_watch = WatchNode::new(
            vec![Box::new(ToggleableBehavior {
                engaged: estop_active.clone(),
            })],
            ParallelPolicy::RequireOne,
        );

        let instance_track_watch = WatchNode::new(
            vec![Box::new(ToggleableBehavior {
                engaged: instance_track_engaged.clone(),
            })],
            ParallelPolicy::RequireOne,
        );

        let main_sequence = SequenceNode::new(vec![
            Box::new(CountedLegBehavior {
                running_ticks_remaining: 2,
                tick_count: leg1_ticks.clone(),
            }),
            Box::new(CountedLegBehavior {
                running_ticks_remaining: 2,
                tick_count: leg2_ticks.clone(),
            }),
        ]);

        let mut subsumption = SubsumptionNode::new()
            .add_layer(255, Box::new(estop_watch))
            .add_layer(100, Box::new(instance_track_watch))
            .add_layer(0, Box::new(main_sequence));

        // Main layer makes progress while nothing is interrupting.
        assert_eq!(subsumption.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(leg1_ticks.load(Ordering::SeqCst), 1);

        // instance_track engages and wins over the main layer, as in the 2-layer case.
        instance_track_engaged.store(true, Ordering::SeqCst);
        assert_eq!(subsumption.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(
            leg1_ticks.load(Ordering::SeqCst),
            1,
            "main layer frozen while instance_track is engaged"
        );

        // Now e-stop fires WHILE instance_track is still engaged - priority 255 must win over
        // BOTH lower layers, not just the main one.
        estop_active.store(true, Ordering::SeqCst);
        for _ in 0..3 {
            assert_eq!(
                subsumption.tick(&ctx).await.unwrap(),
                NodeStatus::Running,
                "the emergency-stop layer must win even over an already-engaged instance_track layer"
            );
        }
        assert_eq!(
            leg1_ticks.load(Ordering::SeqCst),
            1,
            "main layer must stay frozen while e-stop is active"
        );

        // instance_track clears while e-stop is still active - e-stop must keep winning.
        instance_track_engaged.store(false, Ordering::SeqCst);
        assert_eq!(
            subsumption.tick(&ctx).await.unwrap(),
            NodeStatus::Running,
            "e-stop still active, so it keeps control even after instance_track clears"
        );
        assert_eq!(leg1_ticks.load(Ordering::SeqCst), 1, "main layer still frozen");

        // e-stop clears - control hands back to the main layer, resuming (not restarting) leg1.
        estop_active.store(false, Ordering::SeqCst);
        let status = subsumption.tick(&ctx).await.unwrap();
        assert_eq!(
            status,
            NodeStatus::Running,
            "handback surfaces the Sequence's own status once e-stop clears"
        );
        assert_eq!(
            leg1_ticks.load(Ordering::SeqCst),
            2,
            "leg1 resumes from where it left off (1 prior tick), not reset to 0"
        );
        assert_eq!(leg2_ticks.load(Ordering::SeqCst), 0, "leg2 not yet reached");
    }

    #[derive(Debug)]
    struct FixedStatusBehavior(NodeStatus);

    #[async_trait]
    impl BehaviorNode for FixedStatusBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            Ok(self.0)
        }
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn inverter_flips_success_and_failure_but_passes_running_through() {
        let ctx = crate::test_helpers::create_test_context("inverter").await;

        let mut success = InverterNode::new(Box::new(FixedStatusBehavior(NodeStatus::Success)));
        assert_eq!(success.tick(&ctx).await.unwrap(), NodeStatus::Failure);

        let mut failure = InverterNode::new(Box::new(FixedStatusBehavior(NodeStatus::Failure)));
        assert_eq!(failure.tick(&ctx).await.unwrap(), NodeStatus::Success);

        let mut running = InverterNode::new(Box::new(FixedStatusBehavior(NodeStatus::Running)));
        assert_eq!(running.tick(&ctx).await.unwrap(), NodeStatus::Running);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn force_success_reports_success_even_when_child_fails() {
        let ctx = crate::test_helpers::create_test_context("force_success").await;

        let mut node = ForceSuccessNode::new(Box::new(FixedStatusBehavior(NodeStatus::Failure)));
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);

        let mut running = ForceSuccessNode::new(Box::new(FixedStatusBehavior(NodeStatus::Running)));
        assert_eq!(running.tick(&ctx).await.unwrap(), NodeStatus::Running);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn force_failure_reports_failure_even_when_child_succeeds() {
        let ctx = crate::test_helpers::create_test_context("force_failure").await;

        let mut node = ForceFailureNode::new(Box::new(FixedStatusBehavior(NodeStatus::Success)));
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);

        let mut running = ForceFailureNode::new(Box::new(FixedStatusBehavior(NodeStatus::Running)));
        assert_eq!(running.tick(&ctx).await.unwrap(), NodeStatus::Running);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn repeat_with_count_succeeds_after_n_successful_runs() {
        let ctx = crate::test_helpers::create_test_context("repeat_count").await;

        let mut node = RepeatNode::new(Box::new(FixedStatusBehavior(NodeStatus::Success)), Some(3));
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn repeat_stops_immediately_on_child_failure() {
        let ctx = crate::test_helpers::create_test_context("repeat_failure").await;

        let mut node = RepeatNode::new(Box::new(FixedStatusBehavior(NodeStatus::Failure)), None);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn retry_succeeds_once_an_attempt_within_the_budget_succeeds() {
        let ctx = crate::test_helpers::create_test_context("retry_succeeds").await;

        let mut node = RetryNode::new(
            Box::new(SequencedStatusBehavior::new(vec![
                NodeStatus::Failure,
                NodeStatus::Failure,
                NodeStatus::Success,
            ])),
            3,
        );
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn retry_fails_once_every_attempt_is_exhausted() {
        let ctx = crate::test_helpers::create_test_context("retry_exhausted").await;

        let mut node = RetryNode::new(Box::new(FixedStatusBehavior(NodeStatus::Failure)), 2);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn timeout_passes_through_a_child_that_resolves_before_the_deadline() {
        let ctx = crate::test_helpers::create_test_context("timeout_resolves").await;

        let mut node = TimeoutNode::new(
            Box::new(FixedStatusBehavior(NodeStatus::Success)),
            Duration::from_secs(60),
        );
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn timeout_fails_once_the_child_has_been_running_too_long() {
        let ctx = crate::test_helpers::create_test_context("timeout_expires").await;

        let mut node = TimeoutNode::new(Box::new(FixedStatusBehavior(NodeStatus::Running)), Duration::ZERO);
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);
    }

    // `controller_mode()` reads process-global env vars; serialize tests that touch them so they
    // can't observe each other's in-flight state - mirrors `actions/movement.rs`'s own
    // `CONTROLLER_ENV_LOCK` convention (a separate lock, since statics aren't shared across
    // modules, but guarding the same underlying env vars).
    //
    // This needs to be a `tokio::sync::Mutex`, not `std::sync::Mutex`: the async tests below
    // hold the guard across `.await` points (by design - other tests' env var mutations must
    // stay locked out for the whole test body, not just up to the first await), and holding a
    // non-async-aware guard across an await is a hard compile error (`clippy::await_holding_lock`
    // promoted to deny under this workspace's lint config).
    static CONTROLLER_ENV_LOCK: tokio::sync::Mutex<()> = tokio::sync::Mutex::const_new(());

    fn clear_controller_env() {
        std::env::remove_var(mecha10_core::config::CAPABILITIES_ENV_VAR);
        std::env::remove_var(mecha10_core::config::ACTUATION_JOINT_NAMES_ENV_VAR);
    }

    #[test]
    fn controller_mode_is_evaluates_against_the_current_controller_mode() {
        let _guard = CONTROLLER_ENV_LOCK.blocking_lock();
        clear_controller_env();

        // No capability env set => the project falls back to Locomotion (see
        // `mecha10_core::config::controller_mode`).
        assert!(ConditionKind::ControllerModeIs(ControllerModeKind::Locomotion).evaluate());
        assert!(!ConditionKind::ControllerModeIs(ControllerModeKind::Joints).evaluate());

        std::env::set_var(mecha10_core::config::CAPABILITIES_ENV_VAR, r#"["joints"]"#);
        assert!(ConditionKind::ControllerModeIs(ControllerModeKind::Joints).evaluate());
        assert!(!ConditionKind::ControllerModeIs(ControllerModeKind::Locomotion).evaluate());

        clear_controller_env();
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn condition_ticks_child_and_forwards_its_status_when_the_predicate_holds() {
        let _guard = CONTROLLER_ENV_LOCK.lock().await;
        clear_controller_env(); // => Locomotion

        let ctx = crate::test_helpers::create_test_context("condition_true").await;
        let mut node = ConditionNode::new(
            ConditionKind::ControllerModeIs(ControllerModeKind::Locomotion),
            Box::new(FixedStatusBehavior(NodeStatus::Running)),
        );

        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Running,
            "a true predicate must tick the child and forward its status unchanged"
        );

        clear_controller_env();
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn condition_returns_failure_without_ticking_child_when_the_predicate_is_false() {
        let _guard = CONTROLLER_ENV_LOCK.lock().await;
        clear_controller_env();
        std::env::set_var(mecha10_core::config::CAPABILITIES_ENV_VAR, r#"["joints"]"#);

        let ctx = crate::test_helpers::create_test_context("condition_false").await;
        // `DummyBehavior::tick` is `unimplemented!()`, so the test would panic if the child were
        // ticked - proving a false predicate short-circuits to Failure without touching it.
        let mut node = ConditionNode::new(
            ConditionKind::ControllerModeIs(ControllerModeKind::Locomotion),
            Box::new(DummyBehavior),
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Failure);

        clear_controller_env();
    }

    #[test]
    fn condition_children_mut_exposes_the_child() {
        let mut node = ConditionNode::new(
            ConditionKind::ControllerModeIs(ControllerModeKind::Joints),
            Box::new(DummyBehavior),
        );
        assert_eq!(node.children_mut().len(), 1);
    }

    #[test]
    fn condition_forwards_its_childs_active_capability() {
        let node = ConditionNode::new(
            ConditionKind::ControllerModeIs(ControllerModeKind::Locomotion),
            Box::new(CapabilityBehavior("sweep")),
        );
        assert_eq!(node.active_capability(), Some("sweep"));
    }

    #[test]
    fn weighted_select_children_mut_exposes_every_child() {
        let mut node = WeightedSelectNode::new(vec![
            (1.0, Box::new(DummyBehavior) as BoxedBehavior),
            (1.0, Box::new(DummyBehavior) as BoxedBehavior),
        ]);
        assert_eq!(node.children_mut().len(), 2);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn weighted_select_never_picks_a_zero_weight_child() {
        let ctx = crate::test_helpers::create_test_context("weighted_select_zero_weight").await;

        // `DummyBehavior::tick` is `unimplemented!()`, so the test would panic if the zero-weight
        // child were ever ticked - proving it's never picked, over a resolution cycle that visits
        // every *eligible* child.
        let mut node = WeightedSelectNode::with_rng(
            vec![
                (1.0, Box::new(FixedStatusBehavior(NodeStatus::Failure)) as BoxedBehavior),
                (0.0, Box::new(DummyBehavior) as BoxedBehavior),
            ],
            StdRng::seed_from_u64(42),
        );

        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Failure,
            "the only eligible (positive-weight) child fails, and the zero-weight one must not be tried"
        );
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn weighted_select_does_not_reroll_away_from_a_running_child() {
        use std::sync::atomic::{AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("weighted_select_sticky").await;

        let leg_a_ticks = Arc::new(AtomicUsize::new(0));
        let leg_b_ticks = Arc::new(AtomicUsize::new(0));

        let mut node = WeightedSelectNode::with_rng(
            vec![
                (
                    1.0,
                    Box::new(CountedLegBehavior {
                        running_ticks_remaining: 1,
                        tick_count: leg_a_ticks.clone(),
                    }) as BoxedBehavior,
                ),
                (
                    1.0,
                    Box::new(CountedLegBehavior {
                        running_ticks_remaining: 1,
                        tick_count: leg_b_ticks.clone(),
                    }) as BoxedBehavior,
                ),
            ],
            StdRng::seed_from_u64(7),
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        let a_after_first = leg_a_ticks.load(Ordering::SeqCst);
        let b_after_first = leg_b_ticks.load(Ordering::SeqCst);
        assert_eq!(
            a_after_first + b_after_first,
            1,
            "exactly one child should have been ticked"
        );

        // Whichever child was chosen (and is now Running) must be re-ticked next call, not
        // re-rolled to the other one.
        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
        assert_eq!(
            leg_a_ticks.load(Ordering::SeqCst) + leg_b_ticks.load(Ordering::SeqCst),
            2,
            "the same child that was Running must be re-ticked (reaching 2 ticks), not the other \
             one (which must remain untouched at 0)"
        );
        assert!(
            leg_a_ticks.load(Ordering::SeqCst) == 0 || leg_b_ticks.load(Ordering::SeqCst) == 0,
            "the child that was never chosen must never be ticked at all"
        );
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn weighted_select_forwards_the_current_childs_active_capability() {
        let ctx = crate::test_helpers::create_test_context("weighted_select_capability").await;

        let mut node = WeightedSelectNode::with_rng(
            vec![(
                1.0,
                Box::new(StatusAndCapabilityBehavior {
                    status: NodeStatus::Running,
                    capability: "patrol",
                }) as BoxedBehavior,
            )],
            StdRng::seed_from_u64(1),
        );

        assert_eq!(node.active_capability(), None, "no tick has happened yet");

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(node.active_capability(), Some("patrol"));
    }

    #[tokio::test]
    async fn weighted_select_reset_clears_current_index_and_tried() {
        let mut node = WeightedSelectNode::with_rng(
            vec![
                (1.0, Box::new(DummyBehavior) as BoxedBehavior),
                (1.0, Box::new(DummyBehavior) as BoxedBehavior),
            ],
            StdRng::seed_from_u64(3),
        );
        node.current_index = Some(1);
        node.tried[0] = true;

        node.reset().await.unwrap();

        assert_eq!(node.current_index, None);
        assert!(node.tried.iter().all(|t| !t));
    }

    #[derive(Debug)]
    struct CountingFixedStatusBehavior {
        status: NodeStatus,
        tick_count: std::sync::Arc<std::sync::atomic::AtomicUsize>,
    }

    #[async_trait]
    impl BehaviorNode for CountingFixedStatusBehavior {
        async fn tick(&mut self, _ctx: &Context) -> anyhow::Result<NodeStatus> {
            self.tick_count.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
            Ok(self.status)
        }
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn cooldown_blocks_reentry_immediately_after_a_terminal_result() {
        use std::sync::atomic::{AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("cooldown_blocks").await;

        let tick_count = Arc::new(AtomicUsize::new(0));
        let mut node = CooldownNode::new(
            Box::new(CountingFixedStatusBehavior {
                status: NodeStatus::Success,
                tick_count: tick_count.clone(),
            }),
            Duration::from_secs(60),
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
        assert_eq!(tick_count.load(Ordering::SeqCst), 1);

        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Failure,
            "within the cooldown window, the node must fail without ticking the child"
        );
        assert_eq!(
            tick_count.load(Ordering::SeqCst),
            1,
            "the child must not have been ticked again while cooling down"
        );
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn cooldown_expires_and_ticking_resumes() {
        use std::sync::atomic::{AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("cooldown_expires").await;

        let tick_count = Arc::new(AtomicUsize::new(0));
        let mut node = CooldownNode::new(
            Box::new(CountingFixedStatusBehavior {
                status: NodeStatus::Success,
                tick_count: tick_count.clone(),
            }),
            Duration::ZERO,
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Success);
        assert_eq!(tick_count.load(Ordering::SeqCst), 1);

        // A zero-length cooldown has already elapsed by the time the next tick() call checks it.
        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Success,
            "once the cooldown window elapses, ticking must resume normally"
        );
        assert_eq!(tick_count.load(Ordering::SeqCst), 2);
    }

    #[tokio::test]
    #[ignore = "Requires Redis infrastructure"]
    async fn cooldown_does_not_start_while_the_child_is_running() {
        use std::sync::atomic::{AtomicUsize, Ordering};
        use std::sync::Arc;

        let ctx = crate::test_helpers::create_test_context("cooldown_running").await;

        let tick_count = Arc::new(AtomicUsize::new(0));
        let mut node = CooldownNode::new(
            Box::new(CountingFixedStatusBehavior {
                status: NodeStatus::Running,
                tick_count: tick_count.clone(),
            }),
            Duration::from_secs(60),
        );

        assert_eq!(node.tick(&ctx).await.unwrap(), NodeStatus::Running);
        assert_eq!(tick_count.load(Ordering::SeqCst), 1);

        assert_eq!(
            node.tick(&ctx).await.unwrap(),
            NodeStatus::Running,
            "Running must not start the cooldown clock, so the child must be ticked again"
        );
        assert_eq!(tick_count.load(Ordering::SeqCst), 2);
    }

    #[test]
    fn cooldown_children_mut_exposes_the_child() {
        let mut node = CooldownNode::new(Box::new(DummyBehavior), Duration::from_secs(1));
        assert_eq!(node.children_mut().len(), 1);
    }

    #[test]
    fn cooldown_forwards_its_childs_active_capability() {
        let node = CooldownNode::new(Box::new(CapabilityBehavior("sweep")), Duration::from_secs(1));
        assert_eq!(node.active_capability(), Some("sweep"));
    }

    #[test]
    fn cooldown_reset_clears_cooldown_until() {
        let mut node = CooldownNode::new(Box::new(DummyBehavior), Duration::from_secs(1));
        node.cooldown_until = Some(Instant::now() + Duration::from_secs(60));

        node.reset_self();

        assert_eq!(node.cooldown_until, None);
    }
}