#include <WsfBehaviorTreeNode.hpp>

Inheritance diagram for WsfBehaviorTreeNode:

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Collaboration diagram for WsfBehaviorTreeNode:

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Public Types
enum	RunType { Repeat , ForTime , UntilDone }
enum	SelectType { Continous , Finite }
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.

Public Member Functions
	WsfBehaviorTreeNode (const WsfScenario &aScenario)
	WsfBehaviorTreeNode (const WsfBehaviorTreeNode &aSrc)
WsfBehaviorTreeNode &	operator= (const WsfBehaviorTreeNode &)=delete
	~WsfBehaviorTreeNode () override
WsfObject *	Clone () const override=0
bool	ProcessInput (UtInput &aInput) override
virtual void	RegisterInput (UtInput &aInput)
bool	PreconditionsMet ()
double	PreconditionValue ()
void	AddChild (WsfBehaviorTreeNode *aNodePtr)
std::vector< WsfBehaviorTreeNode * > &	Children ()
int	ChildCount () const
WsfBehaviorTreeNode *	ChildEntry (int aIndex)
void	SetParent (WsfBehaviorTreeNode *aNodePtr)
WsfBehaviorTreeNode *	Parent ()
virtual bool	Initialize (double aSimTime, WsfScriptContext *aParentContext)
WsfScriptContext &	GetScriptContext ()
bool	Execute (double aSimTime, bool aSkipCheck=false)
void	TurnOn ()
void	TurnOff ()
void	SetFailureReason (const std::string &aReason, bool aSendEvent=false)
std::string	FailureReason () const
bool	ExecutedLastRun ()
void	SetExecutedLastRun (bool aVal)
void	SetExecutedLastRunRecursive (bool aVal)
void	SetExecutedLastRun (bool aVal, const std::string &aReason)
void	SetExecutedLastRunRecursive (bool aVal, const std::string &aReason)
WsfBehaviorTree *	OwningTree ()
virtual void	SetTree (WsfBehaviorTree *aTreePtr)
WsfScriptProcessor *	OwningProcessor ()
WsfPlatform *	OwningPlatform ()
WsfSimulation *	GetSimulation ()
bool	TryRunLast (double aSimTime)
bool	ShouldRunNext (double aSimTime)
virtual bool	LocalExecute (double aSimTime)=0
unsigned int	Id () const
void	LogNodeStructure (double aSimTime, bool aRecurse)
std::string	FilePath () const
time_t	FileLastModTime () const
void	SetFilePath (const std::string &aPath)
void	SetFileInfo (const std::string &aPath, time_t aModTime)
WsfBehaviorTreeNode *	FindNode (const std::string &aNodeName)
void	FindLastExecuted (std::vector< WsfBehaviorTreeNode * > &aLastExecuted)
const char *	GetScriptClassName () const override
UtScriptContext *	GetScriptAccessibleContext () const override
const WsfScenario &	GetScenario () const
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)

Static Public Member Functions
static unsigned int	GetUniqueNodeId (void)
static void	Reset ()

Protected Attributes
const WsfScenario &	mScenario
bool	mInitialized
bool	mTurnedOn
WsfBehaviorTree *	mParentTreePtr
WsfBehaviorTreeNode *	mParentPtr
std::vector< WsfBehaviorTreeNode * >	mChildren
WsfScriptContext *	mContextPtr
UtScript *	mPreconditionScriptPtr
UtScript *	mNewExecuteScriptPtr
UtScript *	mNewFailScriptPtr
std::string	mFailureReason
double	mFailureTime
bool	mLastExecute
unsigned int	mId
std::string	mFullPathFileName
time_t	mFileLastModTime
RunType	mRunType
int	mRepeats
double	mRunDuration
WsfBehaviorTreeNode *	mLastNodeSelectedPtr
int	mRepeatsLeft
double	mRunStartTime
SelectType	mSelectType
int	mSelectLimit
int	mSelectCount
WsfScriptStateMachine *	mFiniteStateMachinePtr
int	mStateIndex
WsfScriptMessageHandler *	mMessageHandlerPtr
bool	mDebug

Friends
class	WsfBehaviorTreeLeafNode
class	WsfBehaviorTreeSequenceNode
class	WsfBehaviorTreeSelectorNode
class	WsfBehaviorTreeParallelNode
class	WsfBehaviorTreePrioritySelectorNode
class	WsfBehaviorTreeWeightedRandomNode

Additional Inherited Members
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Detailed Description

WsfBehaviorTreeNode is the base class for all nodes in a WsfBehaviorTree, including connector nodes and leaf nodes behavior names are WsfObject types; behavior types are WsfObject names because behavior names are all unique, and types are all "behavior"

Member Enumeration Documentation

◆ RunType

enum WsfBehaviorTreeNode::RunType

Enumerator
Repeat
ForTime
UntilDone

◆ SelectType

enum WsfBehaviorTreeNode::SelectType

Enumerator
Continous
Finite

Constructor & Destructor Documentation

◆ WsfBehaviorTreeNode() [1/2]

WsfBehaviorTreeNode::WsfBehaviorTreeNode ( const WsfScenario & aScenario )

References Continous, GetScriptContext(), GetUniqueNodeId(), mContextPtr, mDebug, mFailureReason, mFailureTime, mFiniteStateMachinePtr, mId, mInitialized, mLastExecute, mLastNodeSelectedPtr, mMessageHandlerPtr, mNewExecuteScriptPtr, mNewFailScriptPtr, mParentPtr, mParentTreePtr, mPreconditionScriptPtr, mRepeats, mRepeatsLeft, mRunDuration, mRunStartTime, mRunType, mScenario, mSelectCount, mSelectLimit, mSelectType, mStateIndex, mTurnedOn, Repeat, WsfObject::SetName(), and WsfObject::SetType().

◆ WsfBehaviorTreeNode() [2/2]

WsfBehaviorTreeNode::WsfBehaviorTreeNode ( const WsfBehaviorTreeNode & aSrc )

◆ ~WsfBehaviorTreeNode()

WsfBehaviorTreeNode::~WsfBehaviorTreeNode ( )

override

References mChildren, mContextPtr, mFiniteStateMachinePtr, mMessageHandlerPtr, and WsfBehaviorTreeNode().

Member Function Documentation

◆ AddChild()

void WsfBehaviorTreeNode::AddChild ( WsfBehaviorTreeNode * aNodePtr )

References mChildren, SetParent(), and WsfBehaviorTreeNode().

Referenced by WsfBehaviorTree::CreateNode(), WsfBehaviorTreeLeafNode::ProcessInput(), and WsfBehaviorTreeNode().

◆ ChildCount()

int WsfBehaviorTreeNode::ChildCount ( ) const

inline

References mChildren.

Referenced by FindLastExecuted().

◆ ChildEntry()

WsfBehaviorTreeNode * WsfBehaviorTreeNode::ChildEntry ( int aIndex )

References mChildren, and WsfBehaviorTreeNode().

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ Children()

std::vector< WsfBehaviorTreeNode * > & WsfBehaviorTreeNode::Children ( )

inline

References mChildren.

◆ Clone()

WsfObject * WsfBehaviorTreeNode::Clone ( ) const

overridepure virtual

Return a copy of this object. Must be implemented by all derived types. If cloning is impossible, a WsfUncloneableException should be thrown.

Implements WsfObject.

Implemented in WsfBehaviorTreeLeafNode, WsfBehaviorTreeParallelNode, WsfBehaviorTreePrioritySelectorNode, WsfBehaviorTreeSelectorNode, WsfBehaviorTreeSequenceNode, and WsfBehaviorTreeWeightedRandomNode.

References WsfObject::WsfObject().

Referenced by WsfBehaviorTreeNode().

◆ Execute()

bool WsfBehaviorTreeNode::Execute	(	double	aSimTime,
		bool	aSkipCheck = false )

References ExecutedLastRun(), LocalExecute(), mFailureReason, mFailureTime, mFiniteStateMachinePtr, mStateIndex, mTurnedOn, PreconditionsMet(), SetExecutedLastRun(), SetExecutedLastRunRecursive(), ShouldRunNext(), and TryRunLast().

Referenced by WsfBehaviorTreePrioritySelectorNode::LocalExecute(), and WsfBehaviorTreeWeightedRandomNode::LocalExecute().

◆ ExecutedLastRun()

bool WsfBehaviorTreeNode::ExecutedLastRun ( )

inline

References mLastExecute.

Referenced by Execute(), and FindLastExecuted().

◆ FailureReason()

std::string WsfBehaviorTreeNode::FailureReason ( ) const

inline

References mFailureReason.

◆ FileLastModTime()

time_t WsfBehaviorTreeNode::FileLastModTime ( ) const

inline

References mFileLastModTime.

◆ FilePath()

std::string WsfBehaviorTreeNode::FilePath ( ) const

inline

References mFullPathFileName.

◆ FindLastExecuted()

void WsfBehaviorTreeNode::FindLastExecuted ( std::vector< WsfBehaviorTreeNode * > & aLastExecuted )

References ChildCount(), ExecutedLastRun(), and mChildren.

Referenced by WsfBehaviorTree::FindLastExecuted().

◆ FindNode()

WsfBehaviorTreeNode * WsfBehaviorTreeNode::FindNode ( const std::string & aNodeName )

References FindNode(), WsfObject::GetType(), mChildren, and WsfBehaviorTreeNode().

Referenced by WsfBehaviorTree::FindNode(), and FindNode().

◆ GetScenario()

const WsfScenario & WsfBehaviorTreeNode::GetScenario ( ) const

inline

References mScenario.

Referenced by WsfBehaviorTreeLeafNode::ProcessInput().

◆ GetScriptAccessibleContext()

UtScriptContext * WsfBehaviorTreeNode::GetScriptAccessibleContext ( ) const

override

References mContextPtr.

◆ GetScriptClassName()

const char * WsfBehaviorTreeNode::GetScriptClassName ( ) const

override

◆ GetScriptContext()

WsfScriptContext & WsfBehaviorTreeNode::GetScriptContext ( )

inline

References mContextPtr.

Referenced by WsfScriptBehaviorTreeNodeClass::GetContext(), and WsfBehaviorTreeNode().

◆ GetSimulation()

WsfSimulation * WsfBehaviorTreeNode::GetSimulation ( )

References mContextPtr, OwningPlatform(), and platformPtr.

Referenced by WsfBehaviorTreeWeightedRandomNode::LocalExecute(), LogNodeStructure(), SetExecutedLastRun(), and SetFailureReason().

◆ GetUniqueNodeId()

unsigned int WsfBehaviorTreeNode::GetUniqueNodeId ( void )

inlinestatic

Referenced by WsfBehaviorTreeNode(), and WsfBehaviorTreeNode().

◆ Id()

unsigned int WsfBehaviorTreeNode::Id ( ) const

inline

References mId.

Referenced by WsfBehaviorTreePrioritySelectorNode::LocalExecute(), and WsfBehaviorTreeWeightedRandomNode::LocalExecute().

◆ Initialize()

bool WsfBehaviorTreeNode::Initialize	(	double	aSimTime,
		WsfScriptContext *	aParentContext )

virtual

Reimplemented in WsfBehaviorTreeLeafNode.

References mChildren, mContextPtr, mFiniteStateMachinePtr, mInitialized, mMessageHandlerPtr, mStateIndex, OwningPlatform(), and OwningProcessor().

◆ LocalExecute()

virtual bool WsfBehaviorTreeNode::LocalExecute ( double aSimTime )

pure virtual

Implemented in WsfBehaviorTreeLeafNode, WsfBehaviorTreeParallelNode, WsfBehaviorTreePrioritySelectorNode, WsfBehaviorTreeSelectorNode, WsfBehaviorTreeSequenceNode, and WsfBehaviorTreeWeightedRandomNode.

Referenced by Execute().

◆ LogNodeStructure()

void WsfBehaviorTreeNode::LogNodeStructure	(	double	aSimTime,
		bool	aRecurse )

References WsfObserver::BehaviorTreeNodeChildren(), WsfSimulation::GetSimTime(), GetSimulation(), and mChildren.

◆ operator=()

WsfBehaviorTreeNode & WsfBehaviorTreeNode::operator= ( const WsfBehaviorTreeNode & )

delete

References WsfBehaviorTreeNode().

◆ OwningPlatform()

WsfPlatform * WsfBehaviorTreeNode::OwningPlatform ( )

References WsfPlatformPart::GetPlatform(), and OwningProcessor().

Referenced by GetSimulation(), WsfBehaviorTreeLeafNode::Initialize(), and Initialize().

◆ OwningProcessor()

WsfScriptProcessor * WsfBehaviorTreeNode::OwningProcessor ( )

References OwningTree(), and WsfBehaviorTree::ParentProcessor().

Referenced by WsfBehaviorTreeLeafNode::Initialize(), Initialize(), and OwningPlatform().

◆ OwningTree()

WsfBehaviorTree * WsfBehaviorTreeNode::OwningTree ( )

References mParentTreePtr.

Referenced by OwningProcessor().

◆ Parent()

WsfBehaviorTreeNode * WsfBehaviorTreeNode::Parent ( )

inline

References mParentPtr, and WsfBehaviorTreeNode().

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ PreconditionsMet()

bool WsfBehaviorTreeNode::PreconditionsMet ( )

References mContextPtr, and mPreconditionScriptPtr.

Referenced by Execute().

◆ PreconditionValue()

double WsfBehaviorTreeNode::PreconditionValue ( )

References mContextPtr, and mPreconditionScriptPtr.

◆ ProcessInput()

bool WsfBehaviorTreeNode::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput a reference to a UtInput object.

Returns: 'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase (or an object derived from it) if the command was recognized but contains some sort of error.

Note: If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

References Continous, Finite, ForTime, mContextPtr, mDebug, mFiniteStateMachinePtr, mMessageHandlerPtr, mNewExecuteScriptPtr, mNewFailScriptPtr, mPreconditionScriptPtr, mRepeats, mRunDuration, mRunType, mSelectLimit, mSelectType, Repeat, and UntilDone.