WsfBehaviorTree.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2003-2015 The Boeing Company. All rights reserved.
//
// The use, dissemination or disclosure of data in this file is subject to
// limitation or restriction. See accompanying README and LICENSE for details.
// ****************************************************************************
 
#ifndef WSFBEHAVIORTREE_HPP
#define WSFBEHAVIORTREE_HPP
 
#include <string>
#include <vector>
 
class UtInput;
class WsfBehaviorTreeNode;
class WsfBehaviorTreeLeafNode;
class WsfBehaviorTreeParallelNode;
#include "wsf_export.h"
 
#include "WsfObject.hpp"
class WsfScenario;
class WsfScriptContext;
class WsfScriptProcessor;
class WsfSimulation;
 
class WSF_EXPORT WsfBehaviorTree : public WsfObject
{
public:
   WsfBehaviorTree(const WsfScenario& aScenario);
   WsfBehaviorTree(const WsfBehaviorTree& aSrc);
   WsfBehaviorTree& operator=(const WsfBehaviorTree& aRhs);
   WsfBehaviorTree* Clone() const override;
   ~WsfBehaviorTree() override;
 
   // clones a node from its type definition, records it in map,
   // returns it for insertion into tree structure
   WsfBehaviorTreeNode* CreateNode(UtInput& aInput);
 
   bool ProcessInput(UtInput& aInput) override;
 
   bool Execute(double simTime);
 
   bool Initialize(double aSimTime, WsfScriptProcessor* aParentPtr, WsfScriptContext* aParentContextPtr = nullptr);
 
   WsfBehaviorTreeParallelNode* RootNode() const { return mRootNodePtr; }
 
   WsfScriptProcessor* ParentProcessor() { return mParentPtr; }
 
   WsfBehaviorTreeNode* FindNode(const std::string& aNodeName) const; // from whole tree

   void FindLastExecuted(std::vector<WsfBehaviorTreeNode*>& aLastExecuted) const; // from whole tree
 
   size_t                   NodeCount() const;              // only counting leaf "behavior" nodes
   WsfBehaviorTreeLeafNode* NodeEntry(size_t aIndex) const; // only counting leaf "behavior" nodes
 
   void RegisterBehaviorNode(WsfBehaviorTreeLeafNode* aNodePtr);
 
   WsfSimulation* GetSimulation();
 
private:
   WsfBehaviorTreeParallelNode*          mRootNodePtr;
   WsfScriptProcessor*                   mParentPtr;
   std::vector<WsfBehaviorTreeLeafNode*> mBehaviorNodes;
};
 
#endif