Meta Behavior Tree – nodes.hpp
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/***************************************** The Meta Behavior Tree Library Copyright (c) 2017 David Feng Distributed under the MIT License. *****************************************/ #ifndef NODES_HPP #define NODES_HPP #include "common_nodes.hpp" #include <boost/mpl/vector.hpp> #include <boost/function.hpp> #include <vector> namespace mbt { enum node_type { BASE_NODE = 0, PARALLEL_NODE = 1, SEQUENCE_NODE = 2, SELECTOR_NODE = 3, DECORATOR_NODE = 4, LEAF_NODE = 5, }; enum node_type_category { BASE_NODE_CATEGORY = 0, COMPOSITE_NODE_CATEGORY = 1, ONE_CHILD_NODE_CATEGORY = 2, NO_CHILD_NODE_CATEGORY = 3, }; enum status { SUCCESS = 0, FAILURE = 1, EXECUTING = 2, }; class base_node; class btree { public: inline btree(base_node * root = nullptr); inline ~btree(); inline void _execute(); inline void _report(status s); inline void _notify(base_node * n); inline void _reset(); inline base_node * _get_root_node() const; inline base_node * _get_executing_node() const; inline status _get_status() const; private: base_node * _root; base_node * _executing; status _status; }; class base_node { public: base_node(node_type t = BASE_NODE, node_type_category c = BASE_NODE_CATEGORY, base_node * parent = nullptr, btree * bt = nullptr) : _type(t), _category(c), _parent(parent), _btree(bt) { _add_child_invoke = std::bind(std::mem_fn(&base_node::_add_child_base_node), this, std::placeholders::_1); _execute_invoke = std::bind(std::mem_fn(&base_node::_execute_base_node), this); _report_invoke = std::bind(std::mem_fn(&base_node::_report_base_node), this, std::placeholders::_1); dtor_bind = std::bind(std::mem_fn(&base_node::_dtor_base_node), this); } ~base_node() { dtor_bind(); } void _set_parent(base_node * p) { _parent = p; } base_node * _get_parent() const { return _parent; } void _set_btree(btree * bt) { _btree = bt; } btree * _get_btree() const { return _btree; } void _add_child(base_node * c) { _add_child_invoke(c); } void _execute() { _execute_invoke(); } void _report(status s) { _report_invoke(s); } node_type _get_node_type() const { return _type; } node_type_category _get_node_type_category() const { return _category; } private: void _add_child_base_node(base_node * c) { } void _execute_base_node() { } void _report_base_node(status s) { } protected: void _dtor_base_node() { } const node_type _type; const node_type_category _category; base_node * _parent; btree * _btree; ::boost::function<void(base_node *)> _add_child_invoke; ::boost::function0<void> _execute_invoke; ::boost::function<void(status)> _report_invoke; ::boost::function0<void> dtor_bind; }; class composite_node : public base_node { public: composite_node(node_type t, base_node * parent = nullptr, btree * bt = nullptr) : base_node(t, COMPOSITE_NODE_CATEGORY, parent, bt) { dtor_bind = std::bind(std::mem_fn(&composite_node::_dtor_composite_node), this); } ~composite_node() { _dtor_composite_node(); } protected: void _dtor_composite_node() { _dtor_base_node(); } }; class one_child_node : public base_node { public: one_child_node(node_type t, base_node * parent = nullptr, btree * bt = nullptr) : base_node(t, ONE_CHILD_NODE_CATEGORY, parent, bt) { dtor_bind = std::bind(std::mem_fn(&one_child_node::_dtor_one_child_node), this); } ~one_child_node() { _dtor_one_child_node(); } protected: void _dtor_one_child_node() { _dtor_base_node(); } }; class no_child_node : public base_node { public: no_child_node(node_type t, base_node * parent = nullptr, btree * bt = nullptr) : base_node(t, NO_CHILD_NODE_CATEGORY, parent, bt) { dtor_bind = std::bind(std::mem_fn(&no_child_node::_dtor_no_child_node), this); } ~no_child_node() { _dtor_no_child_node(); } protected: void _dtor_no_child_node() { _dtor_base_node(); } }; class selector_node : public composite_node { public: typedef ::boost::mpl::vector2<composite_node_tag, selector_node_tag> node_type_tag; selector_node(base_node * parent = nullptr, btree * bt = nullptr) : composite_node(SELECTOR_NODE, parent, bt), _children(), _chd_itr() { _add_child_invoke = std::bind(std::mem_fn(&selector_node::_add_child_selector_node), this, std::placeholders::_1); _execute_invoke = std::bind(std::mem_fn(&selector_node::_execute_selector_node), this); _report_invoke = std::bind(std::mem_fn(&selector_node::_report_selector_node), this, std::placeholders::_1); dtor_bind = std::bind(std::mem_fn(&selector_node::dtor_selector_node), this); } ~selector_node() { dtor_selector_node(); } protected: void dtor_selector_node() { for (auto itr = _children.begin(); itr != _children.end(); ++itr) if (*itr) { delete (*itr); (*itr) = nullptr; } _dtor_composite_node(); } private: void _add_child_selector_node(base_node * c) { _children.emplace_back(c); } void _execute_selector_node() { _chd_itr = _children.cbegin(); if (_chd_itr != _children.cend()) (*_chd_itr)->_execute(); } void _report_selector_node(status s) { ++_chd_itr; switch (s) { case SUCCESS: if (_parent) _parent->_report(s); else _btree->_report(s); break; case FAILURE: { if (_chd_itr != _children.cend()) (*_chd_itr)->_execute(); else if (_parent) _parent->_report(s); else _btree->_report(s); } break; case EXECUTING: break; default: break; } } std::vector<base_node *> _children; std::vector<base_node *>::const_iterator _chd_itr; }; class sequence_node : public composite_node { public: typedef ::boost::mpl::vector2<composite_node_tag, sequence_node_tag> node_type_tag; sequence_node(base_node * parent = nullptr, btree * bt = nullptr) : composite_node(SEQUENCE_NODE, parent, bt), _children(), _chd_itr() { _add_child_invoke = std::bind(std::mem_fn(&sequence_node::_add_child_sequence_node), this, std::placeholders::_1); _execute_invoke = std::bind(std::mem_fn(&sequence_node::_execute_sequence_node), this); _report_invoke = std::bind(std::mem_fn(&sequence_node::_report_sequence_node), this, std::placeholders::_1); dtor_bind = std::bind(std::mem_fn(&sequence_node::dtor_sequence_node), this); } ~sequence_node() { dtor_sequence_node(); } protected: void dtor_sequence_node() { for (auto itr = _children.begin(); itr != _children.end(); ++itr) if (*itr) { delete (*itr); (*itr) = nullptr; } _dtor_composite_node(); } private: void _add_child_sequence_node(base_node * c) { _children.emplace_back(c); } void _execute_sequence_node() { _chd_itr = _children.cbegin(); if (_chd_itr != _children.cend()) (*_chd_itr)->_execute(); } void _report_sequence_node(status s) { ++_chd_itr; switch (s) { case SUCCESS: { if (_chd_itr != _children.cend()) (*_chd_itr)->_execute(); else if (_parent) _parent->_report(s); else _btree->_report(s); } break; case FAILURE: if (_parent) _parent->_report(s); else _btree->_report(s); break; case EXECUTING: break; default: break; } } std::vector<base_node *> _children; std::vector<base_node *>::const_iterator _chd_itr; }; class decorator_node : public one_child_node { public: typedef ::boost::mpl::vector2<one_child_node_tag, decorator_node_tag> node_type_tag; decorator_node(base_node * parent = nullptr, btree * bt = nullptr) : one_child_node(DECORATOR_NODE, parent, bt), _child(nullptr) { _add_child_invoke = std::bind(std::mem_fn(&decorator_node::_add_child_decorator_node), this, std::placeholders::_1); _execute_invoke = std::bind(std::mem_fn(&decorator_node::_execute_decorator_node), this); _report_invoke = std::bind(std::mem_fn(&decorator_node::_report_decorator_node), this, std::placeholders::_1); dtor_bind = std::bind(std::mem_fn(&decorator_node::dtor_decorator_node), this); } ~decorator_node() { dtor_decorator_node(); } protected: void dtor_decorator_node() { if (_child) { delete _child; _child = nullptr; } _dtor_one_child_node(); } private: void _add_child_decorator_node(base_node * c) { _child = c; } void _execute_decorator_node() { if (execute_bind.empty()) return; status res = execute_bind(); switch (res) { case SUCCESS: _child->_execute(); break; case FAILURE: _report_invoke(EXECUTING); break; case EXECUTING: _btree->_notify(this); break; default: break; } } void _report_decorator_node(status s) { if (report_bind.empty()) return; status res = report_bind(s); switch (res) { case SUCCESS: if (_parent) _parent->_report(res); else _btree->_report(res); break; case FAILURE: if (_parent) _parent->_report(res); else _btree->_report(res); break; case EXECUTING: _execute_invoke(); break; default: break; } } base_node * _child; protected: ::boost::function0<status> execute_bind; ::boost::function<status(status)> report_bind; }; class leaf_node : public no_child_node { public: typedef ::boost::mpl::vector2<no_child_node_tag, leaf_node_tag> node_type_tag; leaf_node(base_node * parent = nullptr, btree * bt = nullptr) : no_child_node(LEAF_NODE, parent, bt) { _execute_invoke = std::bind(std::mem_fn(&leaf_node::_execute_leaf_node), this); _report_invoke = std::bind(std::mem_fn(&leaf_node::_report_leaf_node), this, std::placeholders::_1); dtor_bind = std::bind(std::mem_fn(&leaf_node::dtor_leaf_node), this); } ~leaf_node() { dtor_leaf_node(); } protected: void dtor_leaf_node() { _dtor_no_child_node(); } private: void _execute_leaf_node() { if (step_bind.empty()) return; status res = step_bind(); switch (res) { case SUCCESS: _report_invoke(res); break; case FAILURE: _report_invoke(res); break; case EXECUTING: _btree->_notify(this); break; default: break; } } void _report_leaf_node(status s) { if (_parent) _parent->_report(s); else _btree->_report(s); } protected: ::boost::function0<status> step_bind; }; } #include "btree.hpp" #endif |