From 895629a00770df725f2190f6a430c639c6c7e765 Mon Sep 17 00:00:00 2001 From: mac <241206824@qq.com> Date: Thu, 21 May 2026 20:51:32 +0800 Subject: [PATCH] feat: add baby and teen projects, update sample data --- README.md | 3 +- baby/baby_idle_behavior copy.cpp | 115 ++ baby/example.json | 443 ++++++ baby/generate_behavior_cpp.py | 1487 ++++++++++++++++++ baby/node-config.b3-setting | 1066 +++++++++++++ baby/workspace.b3-workspace | 13 + package-lock.json | 1967 ++---------------------- sample/workdir/monster.json | 98 +- sample/workdir/sub/subtree1.json | 46 +- sample/workdir/subtree1.json | 49 +- sample/workdir/subtree2.json | 44 +- teen/example.json | 44 + teen/node-config.b3-setting | 856 +++++++++++ teen/workspace.b3-workspace | 4 + test1/example.json | 429 ++++++ test1/node-config.b3-setting | 856 +++++++++++ test1/workspace.b3-workspace | 13 + test1/行为树需求_幼年期行为树 (1).xlsx | Bin 0 -> 7507 bytes 18 files changed, 5587 insertions(+), 1946 deletions(-) create mode 100644 baby/baby_idle_behavior copy.cpp create mode 100644 baby/example.json create mode 100644 baby/generate_behavior_cpp.py create mode 100644 baby/node-config.b3-setting create mode 100644 baby/workspace.b3-workspace create mode 100644 teen/example.json create mode 100644 teen/node-config.b3-setting create mode 100644 teen/workspace.b3-workspace create mode 100644 test1/example.json create mode 100644 test1/node-config.b3-setting create mode 100644 test1/workspace.b3-workspace create mode 100644 test1/行为树需求_幼年期行为树 (1).xlsx diff --git a/README.md b/README.md index 5d26d79..af39382 100644 --- a/README.md +++ b/README.md @@ -89,7 +89,8 @@ export interface NodeDef { ```shell npm install # 安装依赖 -npm start # 运行测试 +npm test # 运行测试 +npm run dev # 启动开发环境 npm run build # 编译可执行文件 ``` diff --git a/baby/baby_idle_behavior copy.cpp b/baby/baby_idle_behavior copy.cpp new file mode 100644 index 0000000..3e37dc0 --- /dev/null +++ b/baby/baby_idle_behavior copy.cpp @@ -0,0 +1,115 @@ +#include "baby_idle_behavior.h" +#include "esp_log.h" +#include "esp_random.h" +#include "esp_timer.h" + +static const char* TAG = "BabyIdleBehavior"; + +namespace sweekar { +namespace demo7 { + +namespace { +constexpr int64_t kFirstRandomIdleDelayUs = 5000000; // 5s after entering idle +constexpr int64_t kRandomIdleCooldownUs = 7000000; // 7s after a random idle script +constexpr const char* kBaseIdleScript = "baby/idle/look_around"; +constexpr const char* kCuriousIdleScript = "baby/interaction/curious"; +constexpr const char* kShyIdleScript = "baby/interaction/shy"; +} // namespace + +void BabyIdleBehavior::OnEnter(IPetContext* ctx) { + PlayBaseIdle(ctx); + ScheduleRandomIdle(kFirstRandomIdleDelayUs); + phase_ = Phase::WAITING_RANDOM_IDLE; +} + +void BabyIdleBehavior::OnExit(IPetContext* ctx) { + ctx->StopScript(); + next_random_idle_us_ = 0; + phase_ = Phase::PLAYING_BASE_IDLE; +} + +bool BabyIdleBehavior::HandleEvent(IPetContext* ctx, const Event& evt) { + switch (evt.type) { + case EventType::EVT_TOUCH_TAP: + ESP_LOGI(TAG, "Baby got touched. Play surprised."); + ctx->PlayScript("interaction/surprised"); + phase_ = Phase::PLAYING_RANDOM_IDLE; + return true; + + case EventType::EVT_KEY_LEFT_CLICK: + ESP_LOGI(TAG, "Left clicked in BabyIdle. Opening Baby Menu."); + ctx->RequestModeSwitch(PetModeType::MODE_MENU); + return true; + + case EventType::EVT_KEY_RIGHT_CLICK: + ESP_LOGI(TAG, "Right clicked in BabyIdle. Learn to talk."); + ctx->PlayScript("interaction/learned_to_talk"); + phase_ = Phase::PLAYING_RANDOM_IDLE; + return true; + + case EventType::EVT_GYRO_SHAKE: + ESP_LOGI(TAG, "Baby shaken. Play dizzy."); + ctx->PlayScript("interaction/dizzy"); + phase_ = Phase::PLAYING_RANDOM_IDLE; + return true; + + case EventType::EVT_TOUCH_SWIPE_LEFT: + ESP_LOGI(TAG, "Baby touch swipe left. Play hurt."); + ctx->PlayScript("baby/interaction/hurt"); + phase_ = Phase::PLAYING_RANDOM_IDLE; + return true; + + case EventType::EVT_TOUCH_SWIPE_RIGHT: + ESP_LOGI(TAG, "Baby touch swipe right. Play curious."); + ctx->PlayScript(kCuriousIdleScript); + phase_ = Phase::PLAYING_RANDOM_IDLE; + return true; + + case EventType::EVT_SCRIPT_DONE: + ESP_LOGI(TAG, "Baby idle script done."); + PlayBaseIdle(ctx); + if (phase_ == Phase::PLAYING_RANDOM_IDLE) { + ScheduleRandomIdle(kRandomIdleCooldownUs); + phase_ = Phase::COOLDOWN_AFTER_RANDOM; + } + return true; + + default: + return false; + } +} + +void BabyIdleBehavior::OnTick(IPetContext* ctx) { + if (!IsRandomIdleDue()) { + return; + } + + PlayRandomIdle(ctx); + phase_ = Phase::PLAYING_RANDOM_IDLE; +} + +void BabyIdleBehavior::PlayBaseIdle(IPetContext* ctx) { + ESP_LOGI(TAG, "Play base idle script: %s", kBaseIdleScript); + ctx->PlayScript(kBaseIdleScript); +} + +void BabyIdleBehavior::PlayRandomIdle(IPetContext* ctx) { + uint32_t roll = esp_random() % 100; + const char* script = roll < 50 ? kCuriousIdleScript : kShyIdleScript; + ESP_LOGI(TAG, "Play random idle script: %s, roll=%lu", script, static_cast(roll)); + ctx->PlayScript(script); +} + +void BabyIdleBehavior::ScheduleRandomIdle(int64_t delay_us) { + next_random_idle_us_ = esp_timer_get_time() + delay_us; +} + +bool BabyIdleBehavior::IsRandomIdleDue() const { + if (phase_ != Phase::WAITING_RANDOM_IDLE && phase_ != Phase::COOLDOWN_AFTER_RANDOM) { + return false; + } + return next_random_idle_us_ > 0 && esp_timer_get_time() >= next_random_idle_us_; +} + +} // namespace demo7 +} // namespace sweekar diff --git a/baby/example.json b/baby/example.json new file mode 100644 index 0000000..a968f80 --- /dev/null +++ b/baby/example.json @@ -0,0 +1,443 @@ +{ + "$override": { + }, + "custom": { + }, + "desc": "宝宝待机行为树 v2：Selector 优先级级联 + 效用曲线 + 双层脑信号（WARNING/CRITICAL）。优先级：精力耗尽 > 饥饿 > 悲伤 > 开心 > 好奇 > 默认待机。", + "export": true, + "group": [ + ], + "import": [ + ], + "name": "example", + "prefix": "", + "root": { + "$id": "root001", + "children": [ + { + "$id": "idleRepeat001", + "args": { + }, + "children": [ + { + "$id": "idleSeq001", + "children": [ + { + "$id": "idleWaitRhythm", + "args": { + "random": 1.5, + "time": 2 + }, + "id": "40", + "name": "Wait" + }, + { + "$id": "idleSelector001", + "children": [ + { + "$id": "exhaustedSeq", + "children": [ + { + "$id": "exhaustedCheck", + "args": { "attr": "energy", "op": "<=", "value": 15 }, + "id": "43", + "name": "CheckPhysio" + }, + { + "$id": "exhaustedScript", + "args": { "script": "baby/need/sleepy" }, + "id": "44", + "name": "PlayScript" + } + ], + "id": "42", + "name": "Sequence" + }, + { + "$id": "hungrySeq", + "children": [ + { + "$id": "hungryCheck", + "args": { "attr": "fullness", "op": "<=", "value": 25 }, + "id": "46", + "name": "CheckPhysio" + }, + { + "$id": "hungryScript", + "args": { "script": "baby/need/hungry" }, + "id": "48", + "name": "PlayScript" + }, + { + "$id": "hungryMoodDrop", + "args": { "attr": "happiness", "amount": -2 }, + "id": "49", + "name": "AddPhysio" + } + ], + "id": "45", + "name": "Sequence" + }, + { + "$id": "sadSeq", + "children": [ + { + "$id": "sadCheck", + "args": { "attr": "sad", "op": ">", "value": 0.5 }, + "id": "51", + "name": "CheckUtility" + }, + { + "$id": "sadScript", + "args": { "script": "baby/need/sad_mild" }, + "id": "52", + "name": "PlayScript" + } + ], + "id": "50", + "name": "Sequence" + }, + { + "$id": "laughSeq", + "children": [ + { + "$id": "laughCheck", + "args": { "attr": "laugh", "op": ">", "value": 0.5 }, + "id": "54", + "name": "CheckUtility" + }, + { + "$id": "laughScript", + "args": { "script": "baby/interaction/laugh" }, + "id": "55", + "name": "PlayScript" + } + ], + "id": "53", + "name": "Sequence" + }, + { + "$id": "curiousSeq", + "children": [ + { + "$id": "curiousCheck", + "args": { "attr": "curious", "op": ">", "value": 0.4 }, + "id": "57", + "name": "CheckUtility" + }, + { + "$id": "curiousScript", + "args": { "script": "baby/interaction/curious" }, + "id": "58", + "name": "PlayScript" + } + ], + "id": "56", + "name": "Sequence" + }, + { + "$id": "idleFallback", + "args": { "script": "baby/interaction/shy" }, + "id": "59", + "name": "PlayScript" + } + ], + "id": "41", + "name": "Selector" + } + ], + "id": "3", + "name": "Sequence" + } + ], + "id": "2", + "name": "Repeat" + }, + { + "$id": "listenTriple001", + "args": { + "event": "EVT_TOUCH_TRIPLE_TAP" + }, + "children": [ + { + "$id": "shyScript001", + "args": { + "script": "baby/interaction/shy" + }, + "id": "17", + "name": "PlayScript" + } + ], + "id": "16", + "name": "Listen" + }, + { + "$id": "listenTap001", + "args": { + "event": "EVT_TOUCH_TAP" + }, + "children": [ + { + "$id": "tapSelector001", + "children": [ + { + "$id": "dirtyTapSeq", + "children": [ + { + "$id": "dirtyTapCheck", + "args": { "attr": "cleanliness", "op": "<=", "value": 20 }, + "id": "62", + "name": "CheckPhysio" + }, + { + "$id": "dirtyTapScript", + "args": { "script": "baby/interaction/hurt" }, + "id": "64", + "name": "PlayScript" + }, + { + "$id": "dirtyTapMoodDrop", + "args": { "attr": "happiness", "amount": -1 }, + "id": "65", + "name": "AddPhysio" + } + ], + "id": "61", + "name": "Sequence" + }, + { + "$id": "curiousTapSeq", + "children": [ + { + "$id": "curiousTapCheck", + "args": { "attr": "curious", "op": ">", "value": 0.55 }, + "id": "67", + "name": "CheckUtility" + }, + { + "$id": "wantedScript001", + "args": { "script": "baby/interaction/wanted" }, + "id": "69", + "name": "PlayScript" + }, + { + "$id": "tapHappinessUp", + "args": { "attr": "happiness", "amount": 3 }, + "id": "70", + "name": "AddPhysio" + } + ], + "id": "66", + "name": "Sequence" + }, + { + "$id": "sadTapSeq", + "children": [ + { + "$id": "sadTapCheck", + "args": { "attr": "sad", "op": ">", "value": 0.4 }, + "id": "72", + "name": "CheckUtility" + }, + { + "$id": "comfortScript", + "args": { "script": "baby/need/sad_mild" }, + "id": "73", + "name": "PlayScript" + } + ], + "id": "71", + "name": "Sequence" + }, + { + "$id": "tapFallback", + "args": { "script": "baby/interaction/hurt" }, + "id": "74", + "name": "PlayScript" + } + ], + "id": "60", + "name": "Selector" + } + ], + "id": "18", + "name": "Listen" + }, + { + "$id": "listenLeftEar001", + "args": { + "abortType": "interrupt", + "event": "EVT_KEY_LEFT_CLICK" + }, + "children": [ + { + "$id": "openMenu001", + "args": { + "mode": "MODE_MENU" + }, + "id": "24", + "name": "RequestModeSwitch" + } + ], + "id": "23", + "name": "Listen" + }, + { + "$id": "listenBrainFullnessWarning", + "args": { "event": "EVT_INTERNAL_BRAIN_FULLNESS_WARNING" }, + "children": [ + { + "$id": "hungryWarnScript", + "args": { "script": "baby/need/hungry" }, + "id": "30", + "name": "PlayScript" + } + ], + "id": "29", + "name": "Listen" + }, + { + "$id": "listenBrainEnergyWarning", + "args": { "event": "EVT_INTERNAL_BRAIN_ENERGY_WARNING" }, + "children": [ + { + "$id": "sleepyWarnScript", + "args": { "script": "baby/need/sleepy" }, + "id": "32", + "name": "PlayScript" + } + ], + "id": "31", + "name": "Listen" + }, + { + "$id": "listenBrainHappinessWarning", + "args": { "event": "EVT_INTERNAL_BRAIN_HAPPINESS_WARNING" }, + "children": [ + { + "$id": "sadWarnScript", + "args": { "script": "baby/need/sad_mild" }, + "id": "34", + "name": "PlayScript" + } + ], + "id": "33", + "name": "Listen" + }, + { + "$id": "listenBrainCleanlinessWarning", + "args": { "event": "EVT_INTERNAL_BRAIN_CLEANLINESS_WARNING" }, + "children": [ + { + "$id": "dirtyWarnScript", + "args": { "script": "baby/need/dirty" }, + "id": "36", + "name": "PlayScript" + } + ], + "id": "35", + "name": "Listen" + }, + { + "$id": "listenBrainFullnessCritical", + "args": { "event": "EVT_INTERNAL_BRAIN_FULLNESS_CRITICAL", "abortType": "interrupt" }, + "children": [ + { + "$id": "hungryCriticalSeq", + "children": [ + { + "$id": "hungryCriticalScript", + "args": { "script": "baby/need/hungry" }, + "id": "82", + "name": "PlayScript" + }, + { + "$id": "hungryCriticalMoodDrop", + "args": { "attr": "happiness", "amount": -5 }, + "id": "83", + "name": "AddPhysio" + } + ], + "id": "81", + "name": "Sequence" + } + ], + "id": "80", + "name": "Listen" + }, + { + "$id": "listenBrainEnergyCritical", + "args": { "event": "EVT_INTERNAL_BRAIN_ENERGY_CRITICAL", "abortType": "interrupt" }, + "children": [ + { + "$id": "energyCriticalSeq", + "children": [ + { + "$id": "energyCriticalScript", + "args": { "script": "baby/need/sleepy" }, + "id": "86", + "name": "PlayScript" + }, + { + "$id": "energyCriticalMoodDrop", + "args": { "attr": "happiness", "amount": -5 }, + "id": "87", + "name": "AddPhysio" + } + ], + "id": "85", + "name": "Sequence" + } + ], + "id": "84", + "name": "Listen" + }, + { + "$id": "listenBrainHappinessCritical", + "args": { "event": "EVT_INTERNAL_BRAIN_HAPPINESS_CRITICAL", "abortType": "interrupt" }, + "children": [ + { + "$id": "sadCriticalScript", + "args": { "script": "baby/need/sad_mild" }, + "id": "89", + "name": "PlayScript" + } + ], + "id": "88", + "name": "Listen" + }, + { + "$id": "listenBrainCleanlinessCritical", + "args": { "event": "EVT_INTERNAL_BRAIN_CLEANLINESS_CRITICAL", "abortType": "interrupt" }, + "children": [ + { + "$id": "dirtyCriticalSeq", + "children": [ + { + "$id": "dirtyCriticalScript", + "args": { "script": "baby/need/dirty" }, + "id": "92", + "name": "PlayScript" + }, + { + "$id": "dirtyCriticalMoodDrop", + "args": { "attr": "happiness", "amount": -3 }, + "id": "93", + "name": "AddPhysio" + } + ], + "id": "91", + "name": "Sequence" + } + ], + "id": "90", + "name": "Listen" + } + ], + "id": "1", + "name": "Parallel" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/baby/generate_behavior_cpp.py b/baby/generate_behavior_cpp.py new file mode 100644 index 0000000..27a0d24 --- /dev/null +++ b/baby/generate_behavior_cpp.py @@ -0,0 +1,1487 @@ +#!/usr/bin/env python3 +"""Generate a Pet Game behavior .cpp file from a JSON behavior tree. + +The generator intentionally targets the lightweight IPetContext based behavior +classes used by the demo7 pet game stages. It supports the node subset present +in example.json: + + Parallel, Repeat, Sequence, IfElse, Check, Listen, Log, Wait + +Unknown nodes are emitted as ESP_LOGW statements so the generated C++ remains +buildable while making missing mappings visible during runtime. +""" + +from __future__ import annotations + +import argparse +import json +import math +import re +import sys +from dataclasses import dataclass +from pathlib import Path +from typing import Any, Iterable + + +DEFAULT_CLASS_NAME = "JsonBehaviorRunner" +DEFAULT_HEADER = "json_behavior_runner.h" +DEFAULT_CPP = "json_behavior_runner.cpp" +DEFAULT_NAMESPACE = "sweekar::demo7" +DEFAULT_EVENT_BUS = "../../../../09_core/event_bus/event_bus.h" + +EVENT_RE = re.compile(r"^EVT_[A-Z0-9_]+$") +MATH_RANDOM_RE = re.compile(r"^Math\.random\(\)\s*<\s*([0-9]*\.?[0-9]+)\s*$") +INTERNAL_EVENT_RE = re.compile(r"^EVT_INTERNAL_[A-Z0-9_]+$") + +# PetInternalEventType 中定义的伪装事件（0x8000+），不在 EventType 枚举中，但共用同一传递通道 +PET_INTERNAL_EVENT_NAMES: list[str] = [ + "EVT_INTERNAL_BRAIN_FULLNESS_WARNING", + "EVT_INTERNAL_BRAIN_FULLNESS_CRITICAL", + "EVT_INTERNAL_BRAIN_CLEANLINESS_WARNING", + "EVT_INTERNAL_BRAIN_CLEANLINESS_CRITICAL", + "EVT_INTERNAL_BRAIN_HAPPINESS_WARNING", + "EVT_INTERNAL_BRAIN_HAPPINESS_CRITICAL", + "EVT_INTERNAL_BRAIN_ENERGY_WARNING", + "EVT_INTERNAL_BRAIN_ENERGY_CRITICAL", +] + + +@dataclass(frozen=True) +class Node: + node_id: str + name: str + args: dict[str, Any] + children: list["Node"] + + +@dataclass(frozen=True) +class ListenBranch: + event: str + children: list[Node] + + +@dataclass(frozen=True) +class IdleBranch: + base_nodes: list[Node] # played immediately on enter / script-done (base idle display) + wait_seconds: float # main idle loop wait time + random_seconds: float # random jitter on wait + random_nodes: list[Node] # played when random idle timer fires (mood picker etc.) + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Convert a JSON behavior tree into a pet behavior C++ source file.", + ) + parser.add_argument( + "input", + nargs="?", + default="example.json", + type=Path, + help="Input JSON behavior tree. Defaults to ./example.json.", + ) + parser.add_argument( + "-o", + "--output", + type=Path, + default=None, + help=f"Output .cpp path. Defaults to ./{DEFAULT_CPP}.", + ) + parser.add_argument( + "--output-header", + type=Path, + default=None, + help=f"Output .h path. Defaults to ./{DEFAULT_HEADER}.", + ) + parser.add_argument( + "--event-bus", + type=Path, + default=None, + help=f"Path to event_bus.h. Defaults to {DEFAULT_EVENT_BUS}.", + ) + parser.add_argument( + "--header", + default=DEFAULT_HEADER, + help=f"Header included by the generated .cpp. Defaults to {DEFAULT_HEADER}.", + ) + parser.add_argument( + "--class-name", + default=DEFAULT_CLASS_NAME, + help=f"Behavior class name. Defaults to {DEFAULT_CLASS_NAME}.", + ) + parser.add_argument( + "--namespace", + default=DEFAULT_NAMESPACE, + help=f"C++ namespace, separated with ::. Defaults to {DEFAULT_NAMESPACE}.", + ) + parser.add_argument( + "--tag", + default=None, + help="ESP log tag. Defaults to the class name.", + ) + parser.add_argument( + "--force", + action="store_true", + help="Overwrite the output file if it already exists.", + ) + parser.add_argument( + "--condition", + action="append", + default=[], + metavar="CHECK=CPP_EXPR", + help=( + "Bind a Check value to a C++ expression, for example " + "--condition 'emotionHigh=ctx->GetEnergy() > 50'. Can be used multiple times." + ), + ) + parser.add_argument( + "--dry-run", + action="store_true", + help="Print generated C++ to stdout instead of writing a file.", + ) + return parser.parse_args() + + +def load_tree(path: Path) -> tuple[dict[str, Any], Node]: + with path.open("r", encoding="utf-8") as f: + document = json.load(f) + + if not isinstance(document, dict): + raise ValueError("JSON root must be an object") + + root_value = document.get("root") + if not isinstance(root_value, dict): + raise ValueError("JSON must contain an object field named 'root'") + + return document, parse_node(root_value) + + +def parse_node(value: dict[str, Any]) -> Node: + name = value.get("name") + if not isinstance(name, str) or not name: + raise ValueError(f"Node is missing a non-empty string name: {value!r}") + + node_id = str(value.get("$id") or value.get("id") or name) + + args = value.get("args", {}) + if args is None: + args = {} + if not isinstance(args, dict): + raise ValueError(f"Node {node_id} args must be an object") + + raw_children = value.get("children", []) + if raw_children is None: + raw_children = [] + if not isinstance(raw_children, list): + raise ValueError(f"Node {node_id} children must be an array") + + children = [] + for child in raw_children: + if not isinstance(child, dict): + raise ValueError(f"Node {node_id} contains a non-object child: {child!r}") + children.append(parse_node(child)) + + return Node(node_id=node_id, name=name, args=args, children=children) + + +def split_behavior(root: Node) -> tuple[IdleBranch | None, list[ListenBranch], list[Node]]: + """Separate startup/tick work from event listeners. + + Root Parallel nodes commonly contain one repeatable idle branch and multiple + Listen branches. Other root shapes are still accepted and treated as idle + body nodes. + """ + + candidates = root.children if root.name == "Parallel" else [root] + idle_candidates: list[Node] = [] + listen_branches: list[ListenBranch] = [] + extra_nodes: list[Node] = [] + + for child in candidates: + if child.name == "Listen": + event = child.args.get("event") + if not isinstance(event, str) or not EVENT_RE.match(event): + raise ValueError(f"Listen node {child.node_id} has invalid event: {event!r}") + listen_branches.append(ListenBranch(event=event, children=child.children)) + elif child.name == "Repeat": + idle_candidates.extend(child.children) + else: + extra_nodes.append(child) + + if not idle_candidates and extra_nodes: + idle_candidates = extra_nodes + extra_nodes = [] + + idle_branch = None + if idle_candidates: + flat = flatten_single_sequence(idle_candidates) + base_nodes, wait_seconds, random_seconds, random_nodes = split_idle_body(flat) + idle_branch = IdleBranch( + base_nodes=base_nodes, + wait_seconds=wait_seconds, + random_seconds=random_seconds, + random_nodes=random_nodes, + ) + + return idle_branch, listen_branches, extra_nodes + + +def flatten_single_sequence(nodes: list[Node]) -> list[Node]: + if len(nodes) == 1 and nodes[0].name == "Sequence": + return nodes[0].children + return nodes + + +def find_wait_window(nodes: Iterable[Node]) -> tuple[float, float]: + for node in walk_nodes(nodes): + if node.name == "Wait": + return number_arg(node, "time", 1.0), number_arg(node, "random", 0.0) + return 1.0, 0.0 + + +def split_idle_body(nodes: list[Node]) -> tuple[list[Node], float, float, list[Node]]: + """Split an idle Sequence into (base_nodes, wait_sec, random_sec, random_nodes). + + Scans top-level nodes for the first Wait. Everything before it becomes the + base-idle content (played immediately on enter / script-done); everything + after it becomes the random-idle content (played when the timer fires). + """ + base: list[Node] = [] + random_nodes: list[Node] = [] + wait_s = 1.0 + random_s = 0.0 + found_wait = False + for node in nodes: + if not found_wait and node.name == "Wait": + wait_s = number_arg(node, "time", 1.0) + random_s = number_arg(node, "random", 0.0) + found_wait = True + elif not found_wait: + base.append(node) + else: + random_nodes.append(node) + return base, wait_s, random_s, random_nodes + + +def walk_nodes(nodes: Iterable[Node]) -> Iterable[Node]: + for node in nodes: + yield node + yield from walk_nodes(node.children) + + +def number_arg(node: Node, key: str, default: float) -> float: + value = node.args.get(key, default) + if isinstance(value, bool) or not isinstance(value, (int, float)): + raise ValueError(f"{node.name} node {node.node_id} arg {key!r} must be a number") + if not math.isfinite(float(value)) or float(value) < 0: + raise ValueError(f"{node.name} node {node.node_id} arg {key!r} must be >= 0") + return float(value) + + +def generate_cpp( + document: dict[str, Any], + root: Node, + *, + header: str, + class_name: str, + namespace: str, + tag: str, + condition_bindings: dict[str, str] | None = None, +) -> str: + condition_bindings = condition_bindings or {} + idle_branch, listen_branches, extra_nodes = split_behavior(root) + namespace_parts = [part for part in namespace.split("::") if part] + if not namespace_parts: + raise ValueError("namespace must not be empty") + + out: list[str] = [] + emit = out.append + + emit(f'#include "{escape_cpp_string(header)}"') + emit('#include "esp_log.h"') + emit('#include "esp_random.h"') + emit('#include "esp_timer.h"') + emit("") + emit(f'static const char* TAG = "{escape_cpp_string(tag)}";') + emit("") + for part in namespace_parts: + emit(f"namespace {part} {{") + emit("") + emit("namespace {") + emit(f"// Generated from behavior tree: {cpp_comment(str(document.get('name', '')))}") + emit(f"// Description: {cpp_comment(str(document.get('desc', '')))}") + emit("constexpr int64_t kUsPerSecond = 1000000;") + emit("") + emit("int64_t SecondsToUs(float seconds) {") + emit(" return static_cast(seconds * kUsPerSecond);") + emit("}") + emit("") + emit("bool RandomLessThan(float threshold) {") + emit(" if (threshold <= 0.0f) {") + emit(" return false;") + emit(" }") + emit(" if (threshold >= 1.0f) {") + emit(" return true;") + emit(" }") + emit(" return (esp_random() % 10000) < static_cast(threshold * 10000.0f);") + emit("}") + emit("") + emit("int64_t WaitWindowUs(float base_seconds, float random_seconds) {") + emit(" int64_t delay_us = SecondsToUs(base_seconds);") + emit(" if (random_seconds > 0.0f) {") + emit(" delay_us += esp_random() % static_cast(SecondsToUs(random_seconds) + 1);") + emit(" }") + emit(" return delay_us;") + emit("}") + emit("") + emit("bool EvaluateCondition(IPetContext* ctx, const char* expression) {") + emit(" (void)ctx;") + emit(" ESP_LOGW(TAG, \"No C++ binding for Check expression: %s\", expression);") + emit(" return false;") + emit("}") + emit("") + emit("} // namespace") + emit("") + + emit(f"void {class_name}::OnEnter(IPetContext* ctx) {{") + if idle_branch: + emit(" PlayBaseIdle(ctx);") + emit_idle_schedule(idle_branch, emit, " ") + emit(" phase_ = Phase::WAITING_RANDOM_IDLE;") + else: + emit(" (void)ctx;") + emit(' ESP_LOGI(TAG, "Enter generated behavior with no idle branch");') + emit(" phase_ = Phase::PLAYING_BASE_IDLE;") + emit("}") + emit("") + + emit(f"void {class_name}::OnExit(IPetContext* ctx) {{") + emit(" ctx->StopScript();") + emit(" next_random_idle_us_ = 0;") + emit(" phase_ = Phase::PLAYING_BASE_IDLE;") + emit("}") + emit("") + + emit(f"bool {class_name}::HandleEvent(IPetContext* ctx, const Event& evt) {{") + if listen_branches: + emit(" switch (evt.type) {") + for branch in listen_branches: + emit(f" case EventType::{branch.event}:") + emit(f' ESP_LOGI(TAG, "Handle event: {escape_cpp_string(branch.event)}");') + emit_node_list(branch.children, emit, " ", condition_bindings) + emit(" return true;") + emit("") + emit(" case EventType::EVT_SCRIPT_DONE:") + emit(' ESP_LOGI(TAG, "Generated behavior script done");') + if idle_branch: + emit(" PlayBaseIdle(ctx);") + emit_idle_schedule(idle_branch, emit, " ") + emit(" phase_ = Phase::COOLDOWN_AFTER_RANDOM;") + emit(" return true;") + emit("") + emit(" default:") + emit(" return false;") + emit(" }") + else: + emit(" (void)ctx;") + emit(" (void)evt;") + emit(" return false;") + emit("}") + emit("") + + emit(f"void {class_name}::OnTick(IPetContext* ctx) {{") + if idle_branch: + emit(" if (!IsRandomIdleDue()) {") + emit(" return;") + emit(" }") + emit(" PlayRandomIdle(ctx);") + emit(" phase_ = Phase::WAITING_RANDOM_IDLE;") + else: + emit(" (void)ctx;") + emit("}") + emit("") + + emit(f"void {class_name}::PlayBaseIdle(IPetContext* ctx) {{") + if idle_branch and idle_branch.base_nodes: + emit_node_list(idle_branch.base_nodes, emit, " ", condition_bindings) + else: + emit(" (void)ctx;") + emit("}") + emit("") + + emit(f"void {class_name}::PlayRandomIdle(IPetContext* ctx) {{") + if idle_branch and idle_branch.random_nodes: + emit_node_list(idle_branch.random_nodes, emit, " ", condition_bindings) + else: + emit(" (void)ctx;") + emit("}") + emit("") + + emit(f"void {class_name}::ScheduleRandomIdle(int64_t delay_us) {{") + emit(" next_random_idle_us_ = esp_timer_get_time() + delay_us;") + emit("}") + emit("") + + emit(f"bool {class_name}::IsRandomIdleDue() const {{") + emit(" if (phase_ != Phase::WAITING_RANDOM_IDLE && phase_ != Phase::COOLDOWN_AFTER_RANDOM) {") + emit(" return false;") + emit(" }") + emit(" return next_random_idle_us_ > 0 && esp_timer_get_time() >= next_random_idle_us_;") + emit("}") + emit("") + + for part in reversed(namespace_parts): + emit(f"}} // namespace {part}") + emit("") + + if extra_nodes: + emit("// The following root nodes were not emitted because they are outside Repeat/Listen:") + for node in extra_nodes: + emit(f"// - {cpp_comment(node.name)} ({cpp_comment(node.node_id)})") + + return "\n".join(out) + + +def emit_idle_schedule(branch: IdleBranch, emit: Any, indent: str) -> None: + emit( + f"{indent}ScheduleRandomIdle(WaitWindowUs({float_literal(branch.wait_seconds)}, " + f"{float_literal(branch.random_seconds)}));" + ) + + +def emit_node_list(nodes: list[Node], emit: Any, indent: str, condition_bindings: dict[str, str]) -> None: + for node in nodes: + emit_node(node, emit, indent, condition_bindings) + + +def emit_node(node: Node, emit: Any, indent: str, condition_bindings: dict[str, str]) -> None: + if node.name in {"Sequence", "Repeat", "Parallel"}: + emit_node_list(node.children, emit, indent, condition_bindings) + return + + if node.name == "Log": + level = str(node.args.get("level", "info")).lower() + message = str(node.args.get("message", "")) + log_macro = { + "debug": "ESP_LOGD", + "info": "ESP_LOGI", + "warn": "ESP_LOGW", + "warning": "ESP_LOGW", + "error": "ESP_LOGE", + }.get(level, "ESP_LOGI") + emit(f'{indent}{log_macro}(TAG, "{escape_cpp_string(message)}");') + return + + if node.name == "Wait": + time_seconds = number_arg(node, "time", 0.0) + random_seconds = number_arg(node, "random", 0.0) + emit( + f"{indent}ScheduleRandomIdle(WaitWindowUs({float_literal(time_seconds)}, " + f"{float_literal(random_seconds)}));" + ) + return + + if node.name == "IfElse": + if not node.children: + emit(f'{indent}ESP_LOGW(TAG, "IfElse node {escape_cpp_string(node.node_id)} has no condition");') + return + + condition = condition_expr(node.children[0], condition_bindings) + then_nodes = flatten_single_sequence(node.children[1:2]) + else_nodes = flatten_single_sequence(node.children[2:3]) + + emit(f"{indent}if ({condition}) {{") + emit_node_list(then_nodes, emit, indent + " ", condition_bindings) + if else_nodes: + emit(f"{indent}}} else {{") + emit_node_list(else_nodes, emit, indent + " ", condition_bindings) + emit(f"{indent}}}") + return + + if node.name == "Check": + emit(f"{indent}(void)({condition_expr(node, condition_bindings)});") + return + + if node.name == "Listen": + emit(f'{indent}ESP_LOGW(TAG, "Nested Listen node is ignored: {escape_cpp_string(node.node_id)}");') + return + + if node.name == "PlayScript": + script = node.args.get("script") or node.args.get("name") or node.args.get("path") + if not isinstance(script, str) or not script: + emit(f'{indent}ESP_LOGW(TAG, "PlayScript node {escape_cpp_string(node.node_id)} is missing script");') + else: + emit(f'{indent}ctx->PlayScript("{escape_cpp_string(script)}");') + return + + emit(f'{indent}ESP_LOGW(TAG, "Unsupported behavior node: {escape_cpp_string(node.name)}");') + + +def condition_expr(node: Node, condition_bindings: dict[str, str]) -> str: + if node.name != "Check": + return "false" + + value = node.args.get("value", "") + if isinstance(value, bool): + return "true" if value else "false" + if not isinstance(value, str): + return "false" + + value = value.strip() + match = MATH_RANDOM_RE.match(value) + if match: + return f"RandomLessThan({float_literal(float(match.group(1)))})" + + if value in {"true", "false"}: + return value + + if value in condition_bindings: + return f"({condition_bindings[value]})" + + return f'EvaluateCondition(ctx, "{escape_cpp_string(value)}")' + + +def parse_condition_bindings(items: list[str]) -> dict[str, str]: + bindings: dict[str, str] = {} + for item in items: + if "=" not in item: + raise ValueError(f"--condition must use CHECK=CPP_EXPR format: {item!r}") + key, expression = item.split("=", 1) + key = key.strip() + expression = expression.strip() + if not key or not expression: + raise ValueError(f"--condition must include both CHECK and CPP_EXPR: {item!r}") + bindings[key] = expression + return bindings + + +def float_literal(value: float) -> str: + text = f"{value:.6g}" + if "e" not in text.lower() and "." not in text: + text += ".0" + return f"{text}f" + + +def escape_cpp_string(value: str) -> str: + return ( + value.replace("\\", "\\\\") + .replace('"', '\\"') + .replace("\n", "\\n") + .replace("\r", "\\r") + .replace("\t", "\\t") + ) + + +def cpp_comment(value: str) -> str: + return value.replace("*/", "* /").replace("\n", " ") + + +def parse_event_types(event_bus_path: Path) -> list[str]: + text = event_bus_path.read_text(encoding="utf-8") + match = re.search(r"enum\s+class\s+EventType\s*:[^{]+{(?P.*?)};", text, re.S) + if not match: + raise ValueError(f"Cannot find enum class EventType in {event_bus_path}") + + body = re.sub(r"//.*", "", match.group("body")) + events: list[str] = [] + for item in body.split(","): + name = item.split("=", 1)[0].strip() + if EVENT_RE.match(name): + events.append(name) + + if not events: + raise ValueError(f"No EVT_* entries found in {event_bus_path}") + return events + + +def collect_listen_events(node: Node) -> list[str]: + events: list[str] = [] + if node.name == "Listen": + event = node.args.get("event") + if isinstance(event, str): + events.append(event) + for child in node.children: + events.extend(collect_listen_events(child)) + return events + + +def validate_listen_events(root: Node, event_names: list[str]) -> None: + valid = set(event_names) + # PetInternalEventType 的值（0x8000+）不在 EventType 枚举里，但运行时通过 static_cast 共用同一通道，跳过验证 + invalid = sorted({ + event for event in collect_listen_events(root) + if event not in valid and not INTERNAL_EVENT_RE.match(event) + }) + if invalid: + raise ValueError( + "Listen event(s) not present in EventType: " + + ", ".join(invalid) + + ". Update example.json or event_bus.h first." + ) + + +def namespace_open(namespace: str) -> list[str]: + parts = [part for part in namespace.split("::") if part] + if not parts: + raise ValueError("namespace must not be empty") + return [f"namespace {part} {{" for part in parts] + + +def namespace_close(namespace: str) -> list[str]: + parts = [part for part in namespace.split("::") if part] + return [f"}} // namespace {part}" for part in reversed(parts)] + + +def generate_runner_header(namespace: str) -> str: + out: list[str] = [ + "#pragma once", + "", + "#include ", + "#include ", + "#include ", + '#include "11_apps/pet_game_app/pet_state_interfaces.h"', + "", + "struct cJSON;", + "", + ] + out.extend(namespace_open(namespace)) + out.extend([ + "", + "class JsonBehaviorRunner {", + "public:", + " JsonBehaviorRunner(const char* json_data, size_t json_size);", + " ~JsonBehaviorRunner();", + "", + " JsonBehaviorRunner(const JsonBehaviorRunner&) = delete;", + " JsonBehaviorRunner& operator=(const JsonBehaviorRunner&) = delete;", + "", + " void OnEnter(IPetContext* ctx);", + " void OnExit(IPetContext* ctx);", + " bool HandleEvent(IPetContext* ctx, const Event& evt);", + " void OnTick(IPetContext* ctx);", + "", + "private:", + " struct Frame {", + " const cJSON* children = nullptr;", + " int index = 0;", + " bool loop = false;", + " };", + "", + " bool EnsureLoaded();", + " const cJSON* FindIdleRoot() const;", + " const cJSON* FindListenBranch(EventType event_type) const;", + "", + " void StartIdle(IPetContext* ctx);", + " void RunIdleUntilBlocked(IPetContext* ctx);", + " bool ExecuteImmediate(IPetContext* ctx, const cJSON* node);", + " void ExecuteImmediateChildren(IPetContext* ctx, const cJSON* children);", + " void ExecuteLeaf(IPetContext* ctx, const cJSON* node);", + " bool TryPlayScript(IPetContext* ctx, const char* script, const char* source);", + "", + " bool EvaluateCondition(IPetContext* ctx, const cJSON* node);", + " void ScheduleWait(const cJSON* wait_node);", + " void ApplyMessageAction(IPetContext* ctx, const char* message);", + "", + " const char* json_data_ = nullptr;", + " size_t json_size_ = 0;", + " cJSON* document_ = nullptr;", + " const cJSON* root_ = nullptr;", + " std::vector idle_stack_;", + " int64_t next_wakeup_us_ = 0;", + " bool script_playing_ = false;", + "};", + "", + ]) + out.extend(namespace_close(namespace)) + out.append("") + return "\n".join(out) + + +def generate_event_type_name_cases(event_names: list[str]) -> list[str]: + out: list[str] = [] + for event_name in event_names: + out.append(f" case EventType::{event_name}:") + out.append(f' return "{event_name}";') + out.append(" // ------ PetInternalEventType (\u5927\u8111\u4ee3\u8c22\u4fe1\u53f7, 0x8000+) ------") + for event_name in PET_INTERNAL_EVENT_NAMES: + out.append(f" case static_cast({event_name}):") + out.append(f' return "{event_name}";') + return out + + +def generate_runner_cpp(*, header: str, namespace: str, event_names: list[str], tag: str) -> str: + out: list[str] = [ + f'#include "{escape_cpp_string(header)}"', + "", + "#include ", + "#include ", + '#include "cJSON.h"', + '#include "esp_log.h"', + '#include "esp_random.h"', + '#include "esp_timer.h"', + '#include "11_apps/pet_game_app/pet_types.h"', + "", + f'static const char* TAG = "{escape_cpp_string(tag)}";', + "", + ] + out.extend(namespace_open(namespace)) + out.extend([ + "", + "namespace {", + "", + "constexpr int64_t kUsPerSecond = 1000000;", + "constexpr int64_t kFallbackDelayUs = 1000000;", + "", + "const cJSON* GetObject(const cJSON* object, const char* key) {", + " const cJSON* item = cJSON_GetObjectItemCaseSensitive(object, key);", + " return cJSON_IsObject(item) ? item : nullptr;", + "}", + "", + "const cJSON* GetArray(const cJSON* object, const char* key) {", + " const cJSON* item = cJSON_GetObjectItemCaseSensitive(object, key);", + " return cJSON_IsArray(item) ? item : nullptr;", + "}", + "", + "const char* GetString(const cJSON* object, const char* key) {", + " const cJSON* item = cJSON_GetObjectItemCaseSensitive(object, key);", + " return cJSON_IsString(item) ? item->valuestring : nullptr;", + "}", + "", + "double GetNumber(const cJSON* object, const char* key, double default_value) {", + " const cJSON* item = cJSON_GetObjectItemCaseSensitive(object, key);", + " return cJSON_IsNumber(item) ? item->valuedouble : default_value;", + "}", + "", + "const char* NodeName(const cJSON* node) {", + ' const char* name = GetString(node, "name");', + ' return name ? name : "";', + "}", + "", + "bool NameIs(const cJSON* node, const char* expected) {", + " return strcmp(NodeName(node), expected) == 0;", + "}", + "", + "const cJSON* NodeArgs(const cJSON* node) {", + ' return GetObject(node, "args");', + "}", + "", + "const cJSON* NodeChildren(const cJSON* node) {", + ' return GetArray(node, "children");', + "}", + "", + "bool StringContains(const char* text, const char* needle) {", + " return text && strstr(text, needle) != nullptr;", + "}", + "", + "bool RandomLessThan(double threshold) {", + " if (threshold <= 0.0) {", + " return false;", + " }", + " if (threshold >= 1.0) {", + " return true;", + " }", + " return (esp_random() % 10000) < static_cast(threshold * 10000.0);", + "}", + "", + "bool StringEquals(const char* left, const char* right) {", + " return left && right && strcmp(left, right) == 0;", + "}", + "", + "int GetPhysioValue(IPetContext* ctx, const char* attr) {", + ' if (StringEquals(attr, "fullness") || StringEquals(attr, "hunger")) {', + " return ctx->GetFullness();", + " }", + ' if (StringEquals(attr, "cleanliness")) {', + " return ctx->GetCleanliness();", + " }", + ' if (StringEquals(attr, "energy")) {', + " return ctx->GetEnergy();", + " }", + ' if (StringEquals(attr, "happiness") || StringEquals(attr, "mood")) {', + " return ctx->GetHappiness();", + " }", + ' ESP_LOGW(TAG, "Unknown physiology attr: %s", attr ? attr : "");', + " return 0;", + "}", + "", + "void AddPhysioValue(IPetContext* ctx, const char* attr, int amount) {", + ' if (StringEquals(attr, "fullness") || StringEquals(attr, "hunger")) {', + " ctx->AddFullness(amount);", + " return;", + " }", + ' if (StringEquals(attr, "cleanliness")) {', + " ctx->AddCleanliness(amount);", + " return;", + " }", + ' if (StringEquals(attr, "energy")) {', + " ctx->AddEnergy(amount);", + " return;", + " }", + ' if (StringEquals(attr, "happiness") || StringEquals(attr, "mood")) {', + " ctx->AddHappiness(amount);", + " return;", + " }", + ' ESP_LOGW(TAG, "Unknown physiology attr: %s", attr ? attr : "");', + "}", + "", + "void SetPhysioValue(IPetContext* ctx, const char* attr, int target) {", + " int current = GetPhysioValue(ctx, attr);", + " int delta = target - current;", + " if (delta != 0) {", + " AddPhysioValue(ctx, attr, delta);", + " }", + "}", + "", + "bool CompareInt(int left, const char* op, int right) {", + ' if (!op || StringEquals(op, "<=")) {', + " return left <= right;", + " }", + ' if (StringEquals(op, "<")) {', + " return left < right;", + " }", + ' if (StringEquals(op, ">=")) {', + " return left >= right;", + " }", + ' if (StringEquals(op, ">")) {', + " return left > right;", + " }", + ' if (StringEquals(op, "==") || StringEquals(op, "=")) {', + " return left == right;", + " }", + ' if (StringEquals(op, "!=")) {', + " return left != right;", + " }", + ' ESP_LOGW(TAG, "Unknown comparison op: %s", op);', + " return false;", + "}", + "", + "bool CompareFloat(float left, const char* op, float right) {", + ' if (!op || StringEquals(op, "<=")) {', + " return left <= right;", + " }", + ' if (StringEquals(op, "<")) {', + " return left < right;", + " }", + ' if (StringEquals(op, ">=")) {', + " return left >= right;", + " }", + ' if (StringEquals(op, ">")) {', + " return left > right;", + " }", + ' if (StringEquals(op, "==") || StringEquals(op, "=")) {', + " return left == right;", + " }", + ' if (StringEquals(op, "!=")) {', + " return left != right;", + " }", + ' ESP_LOGW(TAG, "Unknown comparison op: %s", op);', + " return false;", + "}", + "", + "const char* EventTypeName(EventType type) {", + " switch (type) {", + ]) + out.extend(generate_event_type_name_cases(event_names)) + out.extend([ + " default:", + ' return "";', + " }", + "}", + "", + "} // namespace", + "", + "JsonBehaviorRunner::JsonBehaviorRunner(const char* json_data, size_t json_size)", + " : json_data_(json_data), json_size_(json_size) {}", + "", + "JsonBehaviorRunner::~JsonBehaviorRunner() {", + " if (document_) {", + " cJSON_Delete(document_);", + " document_ = nullptr;", + " }", + "}", + "", + "void JsonBehaviorRunner::OnEnter(IPetContext* ctx) {", + " if (!EnsureLoaded()) {", + " return;", + " }", + ' ESP_LOGI(TAG, "Enter JSON behavior");', + " script_playing_ = false;", + " StartIdle(ctx);", + "}", + "", + "void JsonBehaviorRunner::OnExit(IPetContext* ctx) {", + " ctx->StopScript();", + " idle_stack_.clear();", + " next_wakeup_us_ = 0;", + " script_playing_ = false;", + "}", + "", + "bool JsonBehaviorRunner::HandleEvent(IPetContext* ctx, const Event& evt) {", + " if (!EnsureLoaded()) {", + " return false;", + " }", + "", + " if (evt.type == EventType::EVT_SCRIPT_DONE) {", + " script_playing_ = false;", + " if (idle_stack_.empty()) {", + ' ESP_LOGD(TAG, "[BT] Script done, idle stack empty — restarting idle");', + " StartIdle(ctx);", + " }", + " return false;", + " }", + "", + " const cJSON* listen = FindListenBranch(evt.type);", + " if (!listen) {", + " return false;", + " }", + "", + " const cJSON* listen_args = NodeArgs(listen);", + ' const char* abort_type = listen_args ? GetString(listen_args, "abortType") : nullptr;', + ' const bool is_interrupt = abort_type && strcmp(abort_type, "interrupt") == 0;', + "", + " if (is_interrupt) {", + ' ESP_LOGI(TAG, "[BT] Interrupt: aborting idle for %s", EventTypeName(evt.type));', + " ctx->StopScript();", + " script_playing_ = false;", + " idle_stack_.clear();", + " next_wakeup_us_ = 0;", + " }", + "", + ' ESP_LOGI(TAG, "Handle JSON behavior event: %s", EventTypeName(evt.type));', + " ExecuteImmediateChildren(ctx, NodeChildren(listen));", + " return true;", + "}", + "", + "void JsonBehaviorRunner::OnTick(IPetContext* ctx) {", + " if (script_playing_) {", + " return;", + " }", + "", + " if (next_wakeup_us_ <= 0 || esp_timer_get_time() < next_wakeup_us_) {", + " return;", + " }", + "", + " next_wakeup_us_ = 0;", + " RunIdleUntilBlocked(ctx);", + "}", + "", + "bool JsonBehaviorRunner::EnsureLoaded() {", + " if (document_) {", + " return root_ != nullptr;", + " }", + "", + " if (!json_data_ || json_size_ == 0) {", + ' ESP_LOGE(TAG, "Behavior JSON data is empty");', + " return false;", + " }", + "", + " document_ = cJSON_ParseWithLength(json_data_, json_size_);", + " if (!document_) {", + ' ESP_LOGE(TAG, "Failed to parse behavior JSON");', + " return false;", + " }", + "", + ' root_ = GetObject(document_, "root");', + " if (!root_) {", + ' ESP_LOGE(TAG, "Behavior JSON has no object field named root");', + " return false;", + " }", + "", + ' const char* behavior_name = GetString(document_, "name");', + ' ESP_LOGI(TAG, "Loaded behavior tree: %s", behavior_name ? behavior_name : "");', + " return true;", + "}", + "", + "const cJSON* JsonBehaviorRunner::FindIdleRoot() const {", + " if (!root_) {", + " return nullptr;", + " }", + "", + ' if (NameIs(root_, "Repeat")) {', + " return root_;", + " }", + "", + " const cJSON* children = NodeChildren(root_);", + " if (!children) {", + " return root_;", + " }", + "", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " const cJSON* child = cJSON_GetArrayItem(children, i);", + ' if (NameIs(child, "Repeat")) {', + " return child;", + " }", + " }", + "", + " return root_;", + "}", + "", + "const cJSON* JsonBehaviorRunner::FindListenBranch(EventType event_type) const {", + " const char* event_name = EventTypeName(event_type);", + " if (!event_name[0] || !root_) {", + " return nullptr;", + " }", + "", + " const cJSON* children = NodeChildren(root_);", + " if (!children) {", + " return nullptr;", + " }", + "", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " const cJSON* child = cJSON_GetArrayItem(children, i);", + ' if (!NameIs(child, "Listen")) {', + " continue;", + " }", + "", + " const cJSON* args = NodeArgs(child);", + ' const char* event = args ? GetString(args, "event") : nullptr;', + " if (event && strcmp(event, event_name) == 0) {", + " return child;", + " }", + " }", + "", + " return nullptr;", + "}", + "", + "void JsonBehaviorRunner::StartIdle(IPetContext* ctx) {", + " idle_stack_.clear();", + " next_wakeup_us_ = 0;", + "", + " const cJSON* idle_root = FindIdleRoot();", + " const cJSON* children = NodeChildren(idle_root);", + " if (!children) {", + " ExecuteLeaf(ctx, idle_root);", + " return;", + " }", + "", + " Frame frame;", + " frame.children = children;", + " frame.index = 0;", + ' frame.loop = NameIs(idle_root, "Repeat");', + " idle_stack_.push_back(frame);", + " RunIdleUntilBlocked(ctx);", + "}", + "", + "void JsonBehaviorRunner::RunIdleUntilBlocked(IPetContext* ctx) {", + " while (!idle_stack_.empty()) {", + " Frame& frame = idle_stack_.back();", + " const int size = cJSON_GetArraySize(frame.children);", + "", + " if (frame.index >= size) {", + " if (frame.loop) {", + " frame.index = 0;", + " } else {", + " idle_stack_.pop_back();", + " }", + " continue;", + " }", + "", + " const cJSON* node = cJSON_GetArrayItem(frame.children, frame.index);", + ' if (NameIs(node, "Wait")) {', + " ScheduleWait(node);", + " frame.index++;", + " return;", + " }", + "", + ' if (NameIs(node, "Sequence") || NameIs(node, "Parallel") || NameIs(node, "Repeat")) {', + " frame.index++;", + " const cJSON* children = NodeChildren(node);", + " if (children) {", + " Frame child_frame;", + " child_frame.children = children;", + " child_frame.index = 0;", + ' child_frame.loop = NameIs(node, "Repeat");', + " idle_stack_.push_back(child_frame);", + " }", + " continue;", + " }", + "", + ' if (NameIs(node, "IfElse")) {', + " frame.index++;", + " const cJSON* children = NodeChildren(node);", + " const cJSON* condition = children ? cJSON_GetArrayItem(children, 0) : nullptr;", + " const int branch_index = EvaluateCondition(ctx, condition) ? 1 : 2;", + " const cJSON* branch = children ? cJSON_GetArrayItem(children, branch_index) : nullptr;", + " const cJSON* branch_children = NodeChildren(branch);", + " if (branch_children) {", + " Frame branch_frame;", + " branch_frame.children = branch_children;", + " branch_frame.index = 0;", + " branch_frame.loop = false;", + " idle_stack_.push_back(branch_frame);", + " } else if (branch) {", + " ExecuteLeaf(ctx, branch);", + " }", + " continue;", + " }", + "", + ' if (NameIs(node, "Selector")) {', + " frame.index++;", + " const cJSON* sel_children = NodeChildren(node);", + " if (!sel_children) { continue; }", + " const int sel_size = cJSON_GetArraySize(sel_children);", + " for (int s = 0; s < sel_size; ++s) {", + " const cJSON* candidate = cJSON_GetArrayItem(sel_children, s);", + ' if (NameIs(candidate, "Sequence")) {', + " const cJSON* seq_ch = NodeChildren(candidate);", + " if (!seq_ch) continue;", + " const cJSON* first = cJSON_GetArrayItem(seq_ch, 0);", + " if (!EvaluateCondition(ctx, first)) continue;", + " Frame sel_frame;", + " sel_frame.children = seq_ch;", + " sel_frame.index = 1;", + " sel_frame.loop = false;", + " idle_stack_.push_back(sel_frame);", + " break;", + " } else {", + " ExecuteLeaf(ctx, candidate);", + " break;", + " }", + " }", + " if (script_playing_) return;", + " continue;", + " }", + "", + ' if (NameIs(node, "PlayScript")) {', + ' if (script_playing_) {', + ' ESP_LOGD(TAG, "[BT] Pause idle tree: waiting current script to finish before next PlayScript");', + " return;", + " }", + "", + " ExecuteLeaf(ctx, node);", + " if (script_playing_) {", + " frame.index++;", + " return;", + " }", + "", + " frame.index++;", + " continue;", + " }", + "", + " ExecuteLeaf(ctx, node);", + " frame.index++;", + " }", + "}", + "", + "bool JsonBehaviorRunner::ExecuteImmediate(IPetContext* ctx, const cJSON* node) {", + " if (!node) return false;", + "", + ' if (NameIs(node, "Sequence")) {', + " const cJSON* children = NodeChildren(node);", + " if (!children) return true;", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " if (!ExecuteImmediate(ctx, cJSON_GetArrayItem(children, i))) return false;", + " }", + " return true;", + " }", + "", + ' if (NameIs(node, "Selector")) {', + " const cJSON* children = NodeChildren(node);", + " if (!children) return false;", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " if (ExecuteImmediate(ctx, cJSON_GetArrayItem(children, i))) return true;", + " }", + " return false;", + " }", + "", + ' if (NameIs(node, "Parallel") || NameIs(node, "Repeat") || NameIs(node, "Listen")) {', + " const cJSON* children = NodeChildren(node);", + " if (!children) return true;", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " ExecuteImmediate(ctx, cJSON_GetArrayItem(children, i));", + " }", + " return true;", + " }", + "", + ' if (NameIs(node, "IfElse")) {', + " const cJSON* children = NodeChildren(node);", + " const cJSON* condition = children ? cJSON_GetArrayItem(children, 0) : nullptr;", + " const int branch_index = EvaluateCondition(ctx, condition) ? 1 : 2;", + " return ExecuteImmediate(ctx, children ? cJSON_GetArrayItem(children, branch_index) : nullptr);", + " }", + "", + ' if (NameIs(node, "CheckPhysio") || NameIs(node, "CheckUtility") || NameIs(node, "Check")) {', + " return EvaluateCondition(ctx, node);", + " }", + "", + " ExecuteLeaf(ctx, node);", + " return true;", + "}", + "", + "void JsonBehaviorRunner::ExecuteImmediateChildren(IPetContext* ctx, const cJSON* children) {", + " if (!children) return;", + " const int size = cJSON_GetArraySize(children);", + " for (int i = 0; i < size; ++i) {", + " ExecuteImmediate(ctx, cJSON_GetArrayItem(children, i));", + " }", + "}", + "", + "void JsonBehaviorRunner::ExecuteLeaf(IPetContext* ctx, const cJSON* node) {", + " if (!node) {", + " return;", + " }", + "", + ' ESP_LOGD(TAG, "[BT] Execute: %s", NodeName(node));', + "", + " const cJSON* args = NodeArgs(node);", + ' if (NameIs(node, "Log")) {', + ' const char* message = args ? GetString(args, "message") : nullptr;', + ' ESP_LOGI(TAG, "%s", message ? message : "");', + " ApplyMessageAction(ctx, message);", + " return;", + " }", + "", + ' if (NameIs(node, "Wait")) {', + " ScheduleWait(node);", + " return;", + " }", + "", + ' if (NameIs(node, "Check")) {', + " (void)EvaluateCondition(ctx, node);", + " return;", + " }", + "", + ' if (NameIs(node, "AddPhysio")) {', + ' const char* attr = args ? GetString(args, "attr") : nullptr;', + ' const int amount = static_cast(args ? GetNumber(args, "amount", 0.0) : 0.0);', + ' ESP_LOGD(TAG, "[BT] AddPhysio %s %+d (before=%d)", attr ? attr : "?", amount, GetPhysioValue(ctx, attr));', + " AddPhysioValue(ctx, attr, amount);", + " return;", + " }", + "", + ' if (NameIs(node, "SetPhysio")) {', + ' const char* attr = args ? GetString(args, "attr") : nullptr;', + ' const int value = static_cast(args ? GetNumber(args, "value", 0.0) : 0.0);', + ' ESP_LOGD(TAG, "[BT] SetPhysio %s => %d (before=%d)", attr ? attr : "?", value, GetPhysioValue(ctx, attr));', + " SetPhysioValue(ctx, attr, value);", + " return;", + " }", + "", + ' if (NameIs(node, "PlayScript")) {', + ' const char* script = args ? GetString(args, "script") : nullptr;', + " if (!script && args) {", + ' script = GetString(args, "path");', + " }", + " if (!script && args) {", + ' script = GetString(args, "name");', + " }", + " if (script) {", + ' (void)TryPlayScript(ctx, script, "PlayScript");', + " } else {", + ' ESP_LOGW(TAG, "PlayScript node is missing script/path/name");', + " }", + " return;", + " }", + "", + ' if (NameIs(node, "RequestModeSwitch")) {', + ' const char* mode = args ? GetString(args, "mode") : nullptr;', + ' if (mode && strcmp(mode, "MODE_MENU") == 0) {', + " ctx->RequestModeSwitch(PetModeType::MODE_MENU);", + ' } else if (mode && strcmp(mode, "MODE_IDLE") == 0) {', + " ctx->RequestModeSwitch(PetModeType::MODE_IDLE);", + ' } else if (mode && strcmp(mode, "MODE_SLEEPING") == 0) {', + " ctx->RequestModeSwitch(PetModeType::MODE_SLEEPING);", + " } else {", + ' ESP_LOGW(TAG, "Unsupported RequestModeSwitch mode: %s", mode ? mode : "");', + " }", + " return;", + " }", + "", + ' ESP_LOGW(TAG, "Unsupported JSON behavior node: %s", NodeName(node));', + "}", + "", + "bool JsonBehaviorRunner::EvaluateCondition(IPetContext* ctx, const cJSON* node) {", + " if (!node) {", + " return false;", + " }", + "", + " const cJSON* args = NodeArgs(node);", + "", + ' if (NameIs(node, "CheckPhysio")) {', + ' const char* attr = args ? GetString(args, "attr") : nullptr;', + ' const char* op = args ? GetString(args, "op") : nullptr;', + ' const int target = static_cast(args ? GetNumber(args, "value", 0.0) : 0.0);', + " bool result = CompareInt(GetPhysioValue(ctx, attr), op, target);", + ' ESP_LOGD(TAG, "[BT] CheckPhysio %s %s %d => current=%d result=%s",', + ' attr ? attr : "?", op ? op : "<=", target,', + ' GetPhysioValue(ctx, attr), result ? "true" : "false");', + " return result;", + " }", + "", + ' if (NameIs(node, "CheckUtility")) {', + ' const char* attr = args ? GetString(args, "attr") : nullptr;', + ' const char* op = args ? GetString(args, "op") : nullptr;', + ' const float thr = static_cast(args ? GetNumber(args, "value", 0.0) : 0.0);', + " if (!attr) {", + ' ESP_LOGW(TAG, "[BT] CheckUtility missing attr");', + " return false;", + " }", + " const BehaviorUtility u = ctx->GetBehaviorUtilities();", + " float actual = 0.0f;", + ' if (StringEquals(attr, "hungry")) { actual = u.hungry; }', + ' else if (StringEquals(attr, "sleepy")) { actual = u.sleepy; }', + ' else if (StringEquals(attr, "dirty")) { actual = u.dirty; }', + ' else if (StringEquals(attr, "laugh")) { actual = u.laugh; }', + ' else if (StringEquals(attr, "curious")) { actual = u.curious; }', + ' else if (StringEquals(attr, "sad")) { actual = u.sad; }', + " else {", + ' ESP_LOGW(TAG, "[BT] CheckUtility unknown attr: %s", attr);', + " return false;", + " }", + " bool result = CompareFloat(actual, op, thr);", + ' ESP_LOGD(TAG, "[BT] CheckUtility %s %s %.2f => actual=%.2f result=%s",', + ' attr, op ? op : ">=", thr, actual, result ? "true" : "false");', + " return result;", + " }", + "", + ' if (!NameIs(node, "Check")) {', + " return false;", + " }", + "", + ' const char* value = args ? GetString(args, "value") : nullptr;', + " if (!value) {", + " return false;", + " }", + "", + " double threshold = 0.0;", + ' if (sscanf(value, "Math.random() < %lf", &threshold) == 1) {', + " return RandomLessThan(threshold);", + " }", + "", + ' if (strcmp(value, "energyHigh") == 0 || strcmp(value, "emotionHigh") == 0) {', + " return ctx->GetEnergy() >= 50;", + " }", + "", + ' if (strcmp(value, "hungerHigh") == 0) {', + " return ctx->GetHunger() >= 50;", + " }", + "", + ' if (strcmp(value, "true") == 0) {', + " return true;", + " }", + "", + ' ESP_LOGW(TAG, "Unknown Check expression: %s", value);', + " return false;", + "}", + "", + "void JsonBehaviorRunner::ScheduleWait(const cJSON* wait_node) {", + " const cJSON* args = NodeArgs(wait_node);", + ' const double base_seconds = args ? GetNumber(args, "time", 0.0) : 0.0;', + ' const double random_seconds = args ? GetNumber(args, "random", 0.0) : 0.0;', + " int64_t delay_us = static_cast(base_seconds * kUsPerSecond);", + "", + " if (random_seconds > 0.0) {", + " const uint32_t random_us = static_cast(random_seconds * kUsPerSecond);", + " delay_us += esp_random() % (random_us + 1);", + " }", + "", + " if (delay_us <= 0) {", + " delay_us = kFallbackDelayUs;", + " }", + "", + " next_wakeup_us_ = esp_timer_get_time() + delay_us;", + "}", + "", + "void JsonBehaviorRunner::ApplyMessageAction(IPetContext* ctx, const char* message) {", + " if (!message) {", + " return;", + " }", + "", + ' if (StringContains(message, "OPEN_MENU")) {', + " ctx->RequestModeSwitch(PetModeType::MODE_MENU);", + " return;", + " }", + "", + ' if (StringContains(message, "PET_IDLE")) {', + ' (void)TryPlayScript(ctx, "baby/idle/look_around", "Log/PET_IDLE");', + ' } else if (StringContains(message, "PET_CURIOUS")) {', + ' (void)TryPlayScript(ctx, "baby/interaction/curious", "Log/PET_CURIOUS");', + ' } else if (StringContains(message, "PET_SHY")) {', + ' (void)TryPlayScript(ctx, "baby/interaction/shy", "Log/PET_SHY");', + ' } else if (StringContains(message, "PET_HURT")) {', + ' (void)TryPlayScript(ctx, "baby/interaction/hurt", "Log/PET_HURT");', + ' } else if (StringContains(message, "PET_HAPPY")) {', + ' (void)TryPlayScript(ctx, "baby/interaction/happy", "Log/PET_HAPPY");', + ' } else if (StringContains(message, "PET_CLINGY")) {', + ' (void)TryPlayScript(ctx, "baby/interaction/clingy", "Log/PET_CLINGY");', + " }", + "}", + "", + "bool JsonBehaviorRunner::TryPlayScript(IPetContext* ctx, const char* script, const char* source) {", + " if (!script || !script[0]) {", + " return false;", + " }", + "", + " if (script_playing_) {", + ' ESP_LOGD(TAG, "[BT] Skip PlayScript while another script is running: source=%s script=%s",', + ' source ? source : "", script);', + " return false;", + " }", + "", + " script_playing_ = true;", + ' ESP_LOGD(TAG, "[BT] PlayScript => %s (source=%s)", script, source ? source : "");', + " ctx->PlayScript(script);", + " return true;", + "}", + "", + ]) + out.extend(namespace_close(namespace)) + out.append("") + return "\n".join(out) + + +def main() -> int: + args = parse_args() + script_dir = Path(__file__).resolve().parent + input_path = args.input.resolve() if args.input.is_absolute() else (script_dir / args.input).resolve() + output_cpp_path = args.output.resolve() if args.output else input_path.with_name(DEFAULT_CPP) + output_header_path = ( + args.output_header.resolve() if args.output_header else input_path.with_name(DEFAULT_HEADER) + ) + event_bus_path = ( + args.event_bus.resolve() + if args.event_bus + else (script_dir / DEFAULT_EVENT_BUS).resolve() + ) + + try: + document, root = load_tree(input_path) + event_names = parse_event_types(event_bus_path) + validate_listen_events(root, event_names) + cpp = generate_runner_cpp( + header=args.header, + namespace=args.namespace, + tag=args.tag or args.class_name, + event_names=event_names, + ) + header = generate_runner_header(args.namespace) + + if args.dry_run: + print(cpp) + print(header, file=sys.stderr) + return 0 + + for path in (output_cpp_path, output_header_path): + if path.exists() and not args.force: + print(f"Refusing to overwrite existing file: {path}", file=sys.stderr) + print("Use --force to overwrite it.", file=sys.stderr) + return 2 + + output_cpp_path.parent.mkdir(parents=True, exist_ok=True) + output_header_path.parent.mkdir(parents=True, exist_ok=True) + output_cpp_path.write_text(cpp, encoding="utf-8") + output_header_path.write_text(header, encoding="utf-8") + print(f"Generated {output_cpp_path}") + print(f"Generated {output_header_path}") + return 0 + except (OSError, ValueError, json.JSONDecodeError) as exc: + print(f"error: {exc}", file=sys.stderr) + return 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/baby/node-config.b3-setting b/baby/node-config.b3-setting new file mode 100644 index 0000000..9d9292f --- /dev/null +++ b/baby/node-config.b3-setting @@ -0,0 +1,1066 @@ +[ + { + "name": "AlwaysFailure", + "type": "Decorator", + "children": 1, + "status": [ + "failure", + "|running" + ], + "desc": "始终返回失败", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `failure`\n" + }, + { + "name": "AlwaysRunning", + "type": "Decorator", + "children": 1, + "status": [ + "running" + ], + "desc": "始终返回运行中状态", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 始终返回 `running`\n" + }, + { + "name": "AlwaysSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running" + ], + "desc": "始终返回成功", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `success`\n" + }, + { + "name": "Assert", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "断言", + "args": [ + { + "name": "message", + "type": "string", + "desc": "消息" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，抛出异常\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "Calculate", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "简单的数值公式计算", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "计算公式" + } + ], + "output": [ + "计算结果" + ], + "doc": "+ 做简单的数值公式计算，返回结果到输出\n" + }, + { + "name": "Case", + "type": "Composite", + "children": 2, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "分支选择", + "doc": "+ 必须有两个子节点\n+ 第一个子节点为判断条件\n+ 第二个子节点为判断为 `success` 时执行的节点\n+ 此节点不会真正意义的执行，而是交由 `Switch` 节点来执行\n" + }, + { + "name": "Check", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "检查True或False", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "值" + } + ], + "doc": "+ 做简单数值公式判定，返回 `success` 或 `failure`\n" + }, + { + "name": "Concat", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "将两个输入合并为一个数组，并返回新数组", + "input": [ + "数组1", + "数组2" + ], + "output": [ + "新数组" + ], + "doc": "+ 如果输入不是数组，则返回 `failure`\n" + }, + { + "name": "Delay", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "延时执行子节点", + "input": [ + "延时时间?" + ], + "args": [ + { + "name": "delay", + "type": "float?", + "desc": "延时时间", + "oneof": "延时时间" + }, + { + "name": "cacheVars", + "type": "string[]?", + "desc": "暂存环境变量" + } + ], + "doc": "+ 当延时触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Filter", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "返回满足条件的元素", + "input": [ + "输入数组" + ], + "output": [ + "变量", + "新数组" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`，满足条件的元素放入新数组\n+ 只有当新数组不为空时，才返回 `success`\n" + }, + { + "name": "ForEach", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "遍历数组", + "input": [ + "数组" + ], + "output": [ + "变量", + "索引?" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "GetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "获取对象的字段值", + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + } + ], + "input": [ + "对象", + "字段(field)?" + ], + "output": [ + "字段值(value)" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 只有获取到合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "IfElse", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "条件执行", + "doc": "+ 必须有三个子节点\n+ 第一个子节点为条件节点\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点,\n" + }, + { + "name": "Includes", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断元素是否在数组中", + "input": [ + "数组", + "元素" + ], + "doc": "+ 若输入的元素不合法，返回 `failure`\n+ 只有数组包含元素时返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Index", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "索引输入的数组", + "args": [ + { + "name": "index", + "type": "int?", + "desc": "索引", + "oneof": "索引" + } + ], + "input": [ + "数组", + "索引?" + ], + "output": [ + "值" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 索引数组的时候，第一个元素的索引为 0\n+ 只有索引到有合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Invert", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "!failure", + "|running" + ], + "desc": "反转子节点运行结果", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `success` 时返回 `failure`\n+ 当子节点返回 `failure` 时返回 `success`\n+ 当子节点返回 `error` 时返回 `error`\n" + }, + { + "name": "IsNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否不存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "JustFailure", + "type": "Action", + "children": 0, + "status": [ + "failure" + ], + "desc": "什么都不干，只返回失败" + }, + { + "name": "JustSuccess", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "什么都不干，只返回成功" + }, + { + "name": "Let", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "定义新的变量名", + "input": [ + "已存在变量名?" + ], + "args": [ + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "已存在变量名" + } + ], + "output": [ + "新变量名" + ], + "doc": "+ 如果有输入变量，则给已有变量重新定义一个名字\n+ 如果`值(value)`为 `null`，则清除变量\n" + }, + { + "name": "Listen", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "侦听事件", + "input": [ + "目标对象?" + ], + "output": [ + "事件目标?", + "事件参数..." + ], + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件", + "options": [ + { + "source": [ + { "name": "左键单击", "value": "EVT_KEY_LEFT_CLICK" }, + { "name": "左键双击", "value": "EVT_KEY_LEFT_DOUBLE_CLICK" }, + { "name": "左键长按", "value": "EVT_KEY_LEFT_LONG_PRESS" }, + { "name": "右键单击", "value": "EVT_KEY_RIGHT_CLICK" }, + { "name": "右键双击", "value": "EVT_KEY_RIGHT_DOUBLE_CLICK" }, + { "name": "右键长按", "value": "EVT_KEY_RIGHT_LONG_PRESS" }, + { "name": "右键三击", "value": "EVT_KEY_RIGHT_TRIPLE_CLICK" }, + { "name": "左右键同时长按", "value": "EVT_KEY_BOTH_LONG_PRESS" }, + { "name": "触摸单击", "value": "EVT_TOUCH_TAP" }, + { "name": "触摸三击", "value": "EVT_TOUCH_TRIPLE_TAP" }, + { "name": "摇晃", "value": "EVT_GYRO_SHAKE" }, + { "name": "人靠近", "value": "EVT_RADAR_PERSON_APPROACH" }, + { "name": "人离开", "value": "EVT_RADAR_PERSON_LEAVE" }, + { "name": "电量危险", "value": "EVT_BATTERY_CRITICAL" }, + { "name": "Wi-Fi 已连接", "value": "EVT_WIFI_CONNECTED" }, + { "name": "Wi-Fi 已断开", "value": "EVT_WIFI_DISCONNECTED" }, + { "name": "剧本播放完成", "value": "EVT_SCRIPT_DONE" }, + { "name": "饱食度变化", "value": "EVT_PHYSIOLOGY_FULLNESS_CHANGED" }, + { "name": "清洁度变化", "value": "EVT_PHYSIOLOGY_CLEANLINESS_CHANGED" }, + { "name": "精力值变化", "value": "EVT_PHYSIOLOGY_ENERGY_CHANGED" }, + { "name": "开心值变化", "value": "EVT_PHYSIOLOGY_HAPPINESS_CHANGED" } + ] + } + ] + } + ], + "doc": "+ 当事件触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Log", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "打印日志", + "input": [ + "日志?" + ], + "args": [ + { + "name": "message", + "type": "string", + "desc": "日志" + }, + { + "name": "level", + "type": "string", + "desc": "日志级别", + "default": "log", + "options": [ + { + "source": [ + { + "name": "LOG", + "value": "log" + }, + { + "name": "INFO", + "value": "info" + }, + { + "name": "DEBUG", + "value": "debug" + }, + { + "name": "WARN", + "value": "warn" + }, + { + "name": "ERROR", + "value": "error" + } + ] + } + ] + } + ] + }, + { + "name": "Math", + "type": "Action", + "desc": "执行数学运算", + "input": [ + "参数..." + ], + "output": [ + "结果" + ], + "status": [ + "success", + "failure" + ], + "args": [ + { + "name": "op", + "type": "string", + "desc": "数学运算类型", + "options": [ + { + "source": [ + { + "name": "绝对值", + "value": "abs" + }, + { + "name": "向上取整", + "value": "ceil" + }, + { + "name": "向下取整", + "value": "floor" + }, + { + "name": "四舍五入", + "value": "round" + }, + { + "name": "符号", + "value": "sign" + }, + { + "name": "正弦", + "value": "sin" + }, + { + "name": "余弦", + "value": "cos" + }, + { + "name": "正切", + "value": "tan" + }, + { + "name": "反正切2", + "value": "atan2" + }, + { + "name": "幂运算", + "value": "pow" + }, + { + "name": "平方根", + "value": "sqrt" + }, + { + "name": "自然对数", + "value": "log" + }, + { + "name": "最小值", + "value": "min" + }, + { + "name": "最大值", + "value": "max" + }, + { + "name": "随机数", + "value": "random" + }, + { + "name": "随机整数", + "value": "randInt" + }, + { + "name": "随机浮点数", + "value": "randFloat" + }, + { + "name": "求和", + "value": "sum" + }, + { + "name": "平均值", + "value": "average" + }, + { + "name": "乘积", + "value": "product" + } + ] + } + ] + }, + { + "name": "value1", + "type": "float?", + "desc": "参数1（优先使用）" + }, + { + "name": "value2", + "type": "float?", + "desc": "参数2（优先使用）" + } + ] + }, + { + "name": "NotNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "Now", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "获取当前时间", + "output": [ + "当前时间" + ] + }, + { + "name": "Once", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "只执行一次", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 第一次执行完全部子节点时返回 `success`，之后永远返回 `failure`" + }, + { + "name": "Parallel", + "type": "Composite", + "status": [ + "success", + "|running" + ], + "children": -1, + "desc": "并行执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `running` 时，返回 `running` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "Push", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "向数组中添加元素", + "input": [ + "数组", + "元素" + ], + "doc": "+ 当变量`数组`不是数组类型时返回 `failure`\n+ 其余返回 `success`\n" + }, + { + "name": "Race", + "type": "Composite", + "status": [ + "|success", + "&failure", + "|running" + ], + "children": -1, + "desc": "竞争执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `success` 时，立即返回 `success` 状态，并中断其他子节点\n+ 如果所有子节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "RandomIndex", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "随机返回输入的其中一个!", + "input": [ + "输入目标" + ], + "output": [ + "随机目标", + "索引?" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 在输入数组中，随机返回其中一个\n+ 当输入数组为空时，或者没有合法元素，返回 `failure`\n" + }, + { + "name": "Repeat", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "循环执行", + "input": [ + "循环次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "循环次数", + "oneof": "循环次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`\n" + }, + { + "name": "RetryUntilFailure", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回失败", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `failure` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "RetryUntilSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回成功", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `success` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "Selector", + "type": "Composite", + "children": -1, + "desc": "选择执行", + "status": [ + "|success", + "&failure", + "|running" + ], + "doc": "+ 一直往下执行，直到有子节点返回 `success` 则返回 `success`\n+ 若全部节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "Sequence", + "type": "Composite", + "children": -1, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "顺序执行", + "doc": "+ 一直往下执行，只有当所有子节点都返回 `success`, 才返回 `success`\n+ 若子节点返回 `failure`，则直接返回 `failure` 状态\n+ 其余情况返回 `running` 状态\n" + }, + { + "name": "SetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "设置对象字段值", + "input": [ + "输入对象", + "字段(field)?", + "值(value)?" + ], + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + }, + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "值(value)" + } + ], + "doc": "+ 对输入对象设置 `field` 和 `value`\n+ 输入参数1必须为对象，否则返回 `failure`\n+ 如果 `field` 不为 `string`, 也返回 `failure`\n+ 如果 `value` 为 `undefined` 或 `null`, 则删除 `field` 的值\n" + }, + { + "name": "Switch", + "type": "Composite", + "children": -1, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "分支执行", + "doc": "+ 按顺序测试 `Case` 节点的判断条件（第一个子节点）\n+ 若测试返回 `success` 则执行 `Case` 第二个子节点，并返回子节点的执行状态\n+ 若没有判断为 `success` 的 `Case` 节点，则返回 `failure`\n" + }, + { + "name": "Timeout", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "|running", + "failure" + ], + "desc": "超时", + "input": [ + "超时时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "超时时间", + "oneof": "超时时间" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点执行超时或返回 `failure` 时，返回 `failure`\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "PlayScript", + "type": "Action", + "children": 0, + "status": [ + "success", + "running", + "failure" + ], + "desc": "播放脚本（GIF/音频/LED）", + "args": [ + { + "name": "script", + "type": "string", + "desc": "脚本路径，如 baby/interaction/curious" + } + ], + "doc": "+ 根据脚本路径驱动 display / audio / led 执行\n+ 运行期间返回 `running`，完成后返回 `success`" + }, + { + "name": "Wait", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待", + "input": [ + "等待时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "等待时间", + "oneof": "等待时间" + }, + { + "name": "random", + "type": "float?", + "desc": "随机范围" + } + ] + }, + { + "name": "WaitForEvent", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待事件触发", + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件名称" + } + ] + }, + { + "name": "CheckPhysio", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "检查宠物生理数值", + "args": [ + { + "name": "attr", + "type": "string", + "desc": "数值类型", + "options": [ + { + "source": [ + { "name": "饱食度(fullness)", "value": "fullness" }, + { "name": "清洁度(cleanliness)", "value": "cleanliness" }, + { "name": "精力值(energy)", "value": "energy" }, + { "name": "开心值(happiness)", "value": "happiness" } + ] + } + ] + }, + { + "name": "op", + "type": "string", + "desc": "比较操作", + "default": "<=", + "options": [ + { + "source": [ + { "name": "<=", "value": "<=" }, + { "name": "<", "value": "<" }, + { "name": ">=", "value": ">=" }, + { "name": ">", "value": ">" }, + { "name": "==", "value": "==" }, + { "name": "!=", "value": "!=" } + ] + } + ] + }, + { + "name": "value", + "type": "int", + "desc": "比较阈值(0-100)" + } + ], + "doc": "+ 从 demo7 DataCenter 读取指定数值并比较\n+ 例如 fullness <= 30 表示饱食度过低，需要播放饿了的剧本\n" + }, + { + "name": "AddPhysio", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "增加或减少宠物生理数值", + "args": [ + { + "name": "attr", + "type": "string", + "desc": "数值类型", + "options": [ + { + "source": [ + { "name": "饱食度(fullness)", "value": "fullness" }, + { "name": "清洁度(cleanliness)", "value": "cleanliness" }, + { "name": "精力值(energy)", "value": "energy" }, + { "name": "开心值(happiness)", "value": "happiness" } + ] + } + ] + }, + { + "name": "amount", + "type": "int", + "desc": "变化量，可为负数" + } + ], + "doc": "+ 调用 demo7 IPetContext 修改 DataCenter 中的数值\n+ 例如 happiness = -3 表示心情下降 3 点\n" + }, + { + "name": "SetPhysio", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "直接设定宠物生理数值为指定绝对值", + "args": [ + { + "name": "attr", + "type": "string", + "desc": "数值类型", + "options": [ + { + "source": [ + { "name": "饱食度(fullness)", "value": "fullness" }, + { "name": "清洁度(cleanliness)", "value": "cleanliness" }, + { "name": "精力值(energy)", "value": "energy" }, + { "name": "开心值(happiness)", "value": "happiness" } + ] + } + ] + }, + { + "name": "value", + "type": "int", + "desc": "目标数值(0-100)" + } + ], + "doc": "+ 直接将 DataCenter 中的指定数值设置为 value（绝对值，非增量）\n+ 例如喂食后 SetPhysio { fullness: 80 } 将饱食度重置为 80\n" + }, + { + "name": "CheckUtility", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "检查宠物行为效用值（由 PetBrain 计算的 0.0–1.0 驱动强度）", + "args": [ + { + "name": "attr", + "type": "string", + "desc": "效用属性", + "options": [ + { + "source": [ + { "name": "饥饿(hungry)", "value": "hungry" }, + { "name": "困倦(sleepy)", "value": "sleepy" }, + { "name": "脏了(dirty)", "value": "dirty" }, + { "name": "开心(laugh)", "value": "laugh" }, + { "name": "好奇(curious)", "value": "curious" }, + { "name": "悲伤(sad)", "value": "sad" } + ] + } + ] + }, + { + "name": "op", + "type": "string", + "desc": "比较操作", + "default": ">=", + "options": [ + { + "source": [ + { "name": ">=", "value": ">=" }, + { "name": ">", "value": ">" }, + { "name": "<=", "value": "<=" }, + { "name": "<", "value": "<" }, + { "name": "==", "value": "==" }, + { "name": "!=", "value": "!=" } + ] + } + ] + }, + { + "name": "value", + "type": "float", + "desc": "比较阈值（0.0 – 1.0）" + } + ], + "doc": "+ 从 PetBrain::GetBehaviorUtilities() 读取效用分数，与阈值比较\n+ attr 可选值：hungry / sleepy / dirty / laugh / curious / sad\n+ 例如：{ attr: \"hungry\", op: \">=\", value: 0.6 } 表示饥饿驱动力 ≥ 60%，应播放饿了剧本\n+ 与 CheckPhysio 的区别：CheckPhysio 读取的是原始整数值（0-100），CheckUtility 读取的是经过曲线映射后的标准化驱动强度\n" + }, + { + "name": "RequestModeSwitch", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "请求切换宠物模式", + "args": [ + { + "name": "mode", + "type": "string", + "desc": "目标模式", + "options": [ + { + "source": [ + { "name": "待机模式", "value": "MODE_IDLE" }, + { "name": "菜单模式", "value": "MODE_MENU" }, + { "name": "睡眠模式", "value": "MODE_SLEEPING" } + ] + } + ] + } + ], + "doc": "+ 请求切换到指定的宠物模式\n+ MODE_MENU: 打开菜单（等同于 Log 中的 OPEN_MENU）\n+ MODE_IDLE: 返回待机\n+ MODE_SLEEPING: 进入睡眠\n" + }, + { + "name": "Watchdog", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "测试执行", + "doc": "+ 必须有3个子节点\n+ 第一个子节点为条件节点，返回 `success` 或 `failure` 状态\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点，不管子节点返回什么状态，都直接返回 `failure`\n+ 当第二个子节点返回 `running` 时，由本节点维护其运行状态\n+ 每一次 tick 都会先执行测试节点，只有当测试节点返回 `success`，才执行第二个子节点\n" + } +] \ No newline at end of file diff --git a/baby/workspace.b3-workspace b/baby/workspace.b3-workspace new file mode 100644 index 0000000..7974305 --- /dev/null +++ b/baby/workspace.b3-workspace @@ -0,0 +1,13 @@ +{ + "nodeConf": "node-config.b3-setting", + "metadata": [], + "files": [ + { + "path": "example.json", + "desc": "最小宠物养成行为树" + } + ], + "settings": { + "checkExpr": true + } +} \ No newline at end of file diff --git a/package-lock.json b/package-lock.json index 1d8c9e4..c412440 100644 --- a/package-lock.json +++ b/package-lock.json @@ -565,7 +565,6 @@ "integrity": "sha512-lWBYIrF7qK5+GjY5Uy+/hEgp8OJWOD/rpy74GplYRhEauvbHDeFB8t5hPOZxCZ0Oxf4Cc36tK51/l3ymJysrKw==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@ampproject/remapping": "^2.2.0", "@babel/code-frame": "^7.26.2", @@ -1765,6 +1764,7 @@ "version": "0.3.5", "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.5.tgz", "integrity": "sha512-IzL8ZoEDIBRWEzlCcRhOaCupYyN5gdIK+Q6fbFdPDg6HqX6jpkItn7DFIpW9LQzXG6Df9sA7+OKnq0qlz/GaQg==", + "dev": true, "dependencies": { "@jridgewell/set-array": "^1.2.1", "@jridgewell/sourcemap-codec": "^1.4.10", @@ -1778,6 +1778,7 @@ "version": "3.1.2", "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz", "integrity": 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"https://registry.npmjs.org/archiver-utils/-/archiver-utils-3.0.4.tgz", - "integrity": "sha512-KVgf4XQVrTjhyWmx6cte4RxonPLR9onExufI1jhvw/MQ4BB6IsZD5gT8Lq+u/+pRkWna/6JoHpiQioaqFP5Rzw==", - "dev": true, - "requires": { - "glob": "^7.2.3", - "graceful-fs": "^4.2.0", - "lazystream": "^1.0.0", - "lodash.defaults": "^4.2.0", - "lodash.difference": "^4.5.0", - "lodash.flatten": "^4.4.0", - "lodash.isplainobject": "^4.0.6", - "lodash.union": "^4.6.0", - "normalize-path": "^3.0.0", - "readable-stream": "^3.6.0" - } - } - } - }, "zustand": { "version": "5.0.3", "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.3.tgz", - "integrity": "sha512-14fwWQtU3pH4dE0dOpdMiWjddcH+QzKIgk1cl8epwSE7yag43k/AD/m4L6+K7DytAOr9gGBe3/EXj9g7cdostg==", - "requires": {} + "integrity": "sha512-14fwWQtU3pH4dE0dOpdMiWjddcH+QzKIgk1cl8epwSE7yag43k/AD/m4L6+K7DytAOr9gGBe3/EXj9g7cdostg==" }, "zwitch": { "version": "2.0.4", diff --git a/sample/workdir/monster.json b/sample/workdir/monster.json index 5460003..11abf40 100644 --- a/sample/workdir/monster.json +++ b/sample/workdir/monster.json @@ -1,72 +1,92 @@ { - "version": "1.8.0", - "name": "monster", + "$override": { + }, + "custom": { + }, "desc": "怪物测试AI", - "firstid": 1, "export": true, - "group": ["Test"], - "import": [], - "vars": [], + "group": [ + "Test" + ], + "import": [ + ], + "name": "monster", + "prefix": "", "root": { - "id": 1, - "name": "Sequence", - "desc": "怪物测试AI", + "$id": "UzMJ4RCPJi", "children": [ { - "id": 2, - "name": "Sequence", - "desc": "攻击", + "$id": "22VgEJ8qBb", "children": [ { - "id": 3, - "name": "GetHp", - "output": ["hp"], + "$id": "sPc1hCO5Y0", "children": [ { - "id": 4, - "name": "Sequence", + "$id": "IliI30nEez", "desc": "新建行为树", + "id": "4", + "name": "Sequence", "path": "workdir/subtree2.json" } + ], + "id": "3", + "name": "GetHp", + "output": [ + "hp" ] }, { - "id": 6, - "name": "Cmp", + "$id": "UflkVPzbM2", "args": { - "value": "hp", - "gt": 50 + "gt": 50, + "value": "hp" }, - "input": ["hp"] + "id": "6", + "input": [ + "hp" + ], + "name": "Cmp" }, { - "id": 7, - "name": "TestB3", - "desc": "攻击", + "$id": "vGBhrKx6OT", "args": { - "time": 1, - "open": true, "check": "1", "name": "1", - "status": "FAILURE" - } + "open": true, + "status": "FAILURE", + "time": 1 + }, + "desc": "攻击", + "id": "7", + "name": "TestB3" }, { - "id": 8, - "name": "Sequence", + "$id": "0XPfo7WtaM", "desc": "新建行为树", + "id": "8", + "name": "Sequence", "path": "workdir/subtree1.json" } - ] + ], + "desc": "攻击", + "id": "2", + "name": "Sequence" }, { - "id": 11, - "name": "Log", - "desc": "逃跑", + "$id": "k3OVVSX9ih", "args": { "message": "Run!" - } + }, + "desc": "逃跑", + "id": "11", + "name": "Log" } - ] - } -} + ], + "desc": "怪物测试AI", + "id": "1", + "name": "Sequence" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/sample/workdir/sub/subtree1.json b/sample/workdir/sub/subtree1.json index f925b66..5f6c2c2 100644 --- a/sample/workdir/sub/subtree1.json +++ b/sample/workdir/sub/subtree1.json @@ -1,30 +1,40 @@ { - "version": "1.8.0", - "name": "subtree1", + "$override": { + }, + "custom": { + }, "desc": "子树1", - "firstid": 1, - "group": [], - "import": [], - "vars": [], + "group": [ + ], + "import": [ + ], + "name": "subtree1", + "prefix": "", "root": { - "id": 1, - "name": "Sequence", - "desc": "新建行为树", + "$id": "IP1AisFtFv", "children": [ { - "id": 2, - "name": "Log", + "$id": "yZbdLrFj5E", "args": { "message": "d" - } + }, + "id": "2", + "name": "Log" }, { - "id": 3, - "name": "Wait", + "$id": "xkChWKGQn1", "args": { "time": 1 - } + }, + "id": "3", + "name": "Wait" } - ] - } -} + ], + "desc": "新建行为树", + "id": "1", + "name": "Sequence" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/sample/workdir/subtree1.json b/sample/workdir/subtree1.json index 3a6b866..29527f8 100644 --- a/sample/workdir/subtree1.json +++ b/sample/workdir/subtree1.json @@ -1,30 +1,39 @@ { - "version": "1.8.0", - "name": "subtree1", + "$override": { + }, + "custom": { + }, "desc": "子树1", - "firstid": 1, - "group": [], - "import": [], - "vars": [], + "group": [ + ], + "import": [ + ], + "name": "subtree1", + "prefix": "", "root": { - "id": 1, - "name": "Sequence", - "desc": "新建行为树", + "$id": "GosdwkpHRi", "children": [ { - "id": 2, - "name": "Log", - "args": { - "message": "hello" - } + "$id": "VJjl0tZcRq", + "desc": "新建行为树", + "id": "2", + "name": "Sequence", + "path": "workdir/sub/subtree1.json" }, { - "id": 3, - "name": "Wait", + "$id": "6OKeNNuNW9", "args": { "time": 1 - } + }, + "id": "5", + "name": "Wait" } - ] - } -} + ], + "desc": "新建行为树", + "id": "1", + "name": "Sequence" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/sample/workdir/subtree2.json b/sample/workdir/subtree2.json index b86b161..57e2864 100644 --- a/sample/workdir/subtree2.json +++ b/sample/workdir/subtree2.json @@ -1,22 +1,34 @@ { - "version": "1.8.0", - "name": "subtree2", + "$override": { + }, + "custom": { + }, "desc": "子树2", - "firstid": 1, - "group": [], - "import": [], - "vars": [], + "group": [ + ], + "import": [ + ], + "name": "subtree2", + "prefix": "", "root": { - "id": 1, - "name": "Sequence", - "desc": "新建行为树", + "$id": "TZZbFRZLIC", "children": [ { - "id": 2, - "name": "Cmp", - "args": {}, - "input": ["x"] + "$id": "iF9KMbqNoB", + "args": { + }, + "id": "2", + "input": [ + "x" + ], + "name": "Cmp" } - ] - } -} + ], + "desc": "新建行为树", + "id": "1", + "name": "Sequence" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/teen/example.json b/teen/example.json new file mode 100644 index 0000000..e45fa51 --- /dev/null +++ b/teen/example.json @@ -0,0 +1,44 @@ +{ + "$override": { + }, + "custom": { + }, + "group": [ + ], + "import": [ + ], + "name": "example", + "prefix": "", + "root": { + "$id": "WlN4KrHMeI", + "children": [ + { + "$id": "VewHwrsZoK", + "args": { + "level": "log", + "message": "hello" + }, + "id": "2", + "name": "Log" + }, + { + "$id": "w2qpYhd3fi", + "args": { + "time": 1 + }, + "id": "3", + "name": "Wait" + }, + { + "$id": "bro2CDGyFh", + "id": "4", + "name": "unknow" + } + ], + "id": "1", + "name": "Sequence" + }, + "vars": [ + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/teen/node-config.b3-setting b/teen/node-config.b3-setting new file mode 100644 index 0000000..df30ecf --- /dev/null +++ b/teen/node-config.b3-setting @@ -0,0 +1,856 @@ +[ + { + "name": "AlwaysFailure", + "type": "Decorator", + "children": 1, + "status": [ + "failure", + "|running" + ], + "desc": "始终返回失败", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `failure`\n" + }, + { + "name": "AlwaysRunning", + "type": "Decorator", + "children": 1, + "status": [ + "running" + ], + "desc": "始终返回运行中状态", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 始终返回 `running`\n" + }, + { + "name": "AlwaysSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running" + ], + "desc": "始终返回成功", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `success`\n" + }, + { + "name": "Assert", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "断言", + "args": [ + { + "name": "message", + "type": "string", + "desc": "消息" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，抛出异常\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "Calculate", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "简单的数值公式计算", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "计算公式" + } + ], + "output": [ + "计算结果" + ], + "doc": "+ 做简单的数值公式计算，返回结果到输出\n" + }, + { + "name": "Case", + "type": "Composite", + "children": 2, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "分支选择", + "doc": "+ 必须有两个子节点\n+ 第一个子节点为判断条件\n+ 第二个子节点为判断为 `success` 时执行的节点\n+ 此节点不会真正意义的执行，而是交由 `Switch` 节点来执行\n" + }, + { + "name": "Check", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "检查True或False", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "值" + } + ], + "doc": "+ 做简单数值公式判定，返回 `success` 或 `failure`\n" + }, + { + "name": "Concat", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "将两个输入合并为一个数组，并返回新数组", + "input": [ + "数组1", + "数组2" + ], + "output": [ + "新数组" + ], + "doc": "+ 如果输入不是数组，则返回 `failure`\n" + }, + { + "name": "Delay", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "延时执行子节点", + "input": [ + "延时时间?" + ], + "args": [ + { + "name": "delay", + "type": "float?", + "desc": "延时时间", + "oneof": "延时时间" + }, + { + "name": "cacheVars", + "type": "string[]?", + "desc": "暂存环境变量" + } + ], + "doc": "+ 当延时触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Filter", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "返回满足条件的元素", + "input": [ + "输入数组" + ], + "output": [ + "变量", + "新数组" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`，满足条件的元素放入新数组\n+ 只有当新数组不为空时，才返回 `success`\n" + }, + { + "name": "ForEach", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "遍历数组", + "input": [ + "数组" + ], + "output": [ + "变量", + "索引?" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "GetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "获取对象的字段值", + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + } + ], + "input": [ + "对象", + "字段(field)?" + ], + "output": [ + "字段值(value)" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 只有获取到合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "IfElse", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "条件执行", + "doc": "+ 必须有三个子节点\n+ 第一个子节点为条件节点\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点,\n" + }, + { + "name": "Includes", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断元素是否在数组中", + "input": [ + "数组", + "元素" + ], + "doc": "+ 若输入的元素不合法，返回 `failure`\n+ 只有数组包含元素时返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Index", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "索引输入的数组", + "args": [ + { + "name": "index", + "type": "int?", + "desc": "索引", + "oneof": "索引" + } + ], + "input": [ + "数组", + "索引?" + ], + "output": [ + "值" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 索引数组的时候，第一个元素的索引为 0\n+ 只有索引到有合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Invert", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "!failure", + "|running" + ], + "desc": "反转子节点运行结果", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `success` 时返回 `failure`\n+ 当子节点返回 `failure` 时返回 `success`\n+ 当子节点返回 `error` 时返回 `error`\n" + }, + { + "name": "IsNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否不存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "JustFailure", + "type": "Action", + "children": 0, + "status": [ + "failure" + ], + "desc": "什么都不干，只返回失败" + }, + { + "name": "JustSuccess", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "什么都不干，只返回成功" + }, + { + "name": "Let", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "定义新的变量名", + "input": [ + "已存在变量名?" + ], + "args": [ + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "已存在变量名" + } + ], + "output": [ + "新变量名" + ], + "doc": "+ 如果有输入变量，则给已有变量重新定义一个名字\n+ 如果`值(value)`为 `null`，则清除变量\n" + }, + { + "name": "Listen", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "侦听事件", + "input": [ + "目标对象?" + ], + "output": [ + "事件目标?", + "事件参数..." + ], + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件", + "options": [ + { + "source": [ + { + "name": "行为树被中断", + "value": "treeInterrupted" + }, + { + "name": "行为树开始执行前", + "value": "treeBeforeTicked" + }, + { + "name": "行为树执行完成后", + "value": "treeAfterTicked" + }, + { + "name": "行为树执行成功后", + "value": "treeTickedSuccess" + }, + { + "name": "行为树执行失败后", + "value": "treeTickedFailure" + }, + { + "name": "行为树被清理", + "value": "treeCleaned" + } + ] + } + ] + } + ], + "doc": "+ 当事件触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Log", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "打印日志", + "input": [ + "日志?" + ], + "args": [ + { + "name": "message", + "type": "string", + "desc": "日志" + }, + { + "name": "level", + "type": "string", + "desc": "日志级别", + "default": "log", + "options": [ + { + "source": [ + { + "name": "LOG", + "value": "log" + }, + { + "name": "INFO", + "value": "info" + }, + { + "name": "DEBUG", + "value": "debug" + }, + { + "name": "WARN", + "value": "warn" + }, + { + "name": "ERROR", + "value": "error" + } + ] + } + ] + } + ] + }, + { + "name": "Math", + "type": "Action", + "desc": "执行数学运算", + "input": [ + "参数..." + ], + "output": [ + "结果" + ], + "status": [ + "success", + "failure" + ], + "args": [ + { + "name": "op", + "type": "string", + "desc": "数学运算类型", + "options": [ + { + "source": [ + { + "name": "绝对值", + "value": "abs" + }, + { + "name": "向上取整", + "value": "ceil" + }, + { + "name": "向下取整", + "value": "floor" + }, + { + "name": "四舍五入", + "value": "round" + }, + { + "name": "符号", + "value": "sign" + }, + { + "name": "正弦", + "value": "sin" + }, + { + "name": "余弦", + "value": "cos" + }, + { + "name": "正切", + "value": "tan" + }, + { + "name": "反正切2", + "value": "atan2" + }, + { + "name": "幂运算", + "value": "pow" + }, + { + "name": "平方根", + "value": "sqrt" + }, + { + "name": "自然对数", + "value": "log" + }, + { + "name": "最小值", + "value": "min" + }, + { + "name": "最大值", + "value": "max" + }, + { + "name": "随机数", + "value": "random" + }, + { + "name": "随机整数", + "value": "randInt" + }, + { + "name": "随机浮点数", + "value": "randFloat" + }, + { + "name": "求和", + "value": "sum" + }, + { + "name": "平均值", + "value": "average" + }, + { + "name": "乘积", + "value": "product" + } + ] + } + ] + }, + { + "name": "value1", + "type": "float?", + "desc": "参数1（优先使用）" + }, + { + "name": "value2", + "type": "float?", + "desc": "参数2（优先使用）" + } + ] + }, + { + "name": "NotNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "Now", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "获取当前时间", + "output": [ + "当前时间" + ] + }, + { + "name": "Once", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "只执行一次", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 第一次执行完全部子节点时返回 `success`，之后永远返回 `failure`" + }, + { + "name": "Parallel", + "type": "Composite", + "status": [ + "success", + "|running" + ], + "children": -1, + "desc": "并行执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `running` 时，返回 `running` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "Push", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "向数组中添加元素", + "input": [ + "数组", + "元素" + ], + "doc": "+ 当变量`数组`不是数组类型时返回 `failure`\n+ 其余返回 `success`\n" + }, + { + "name": "Race", + "type": "Composite", + "status": [ + "|success", + "&failure", + "|running" + ], + "children": -1, + "desc": "竞争执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `success` 时，立即返回 `success` 状态，并中断其他子节点\n+ 如果所有子节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "RandomIndex", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "随机返回输入的其中一个!", + "input": [ + "输入目标" + ], + "output": [ + "随机目标", + "索引?" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 在输入数组中，随机返回其中一个\n+ 当输入数组为空时，或者没有合法元素，返回 `failure`\n" + }, + { + "name": "Repeat", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "循环执行", + "input": [ + "循环次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "循环次数", + "oneof": "循环次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`\n" + }, + { + "name": "RetryUntilFailure", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回失败", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `failure` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "RetryUntilSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回成功", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `success` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "Selector", + "type": "Composite", + "children": -1, + "desc": "选择执行", + "status": [ + "|success", + "&failure", + "|running" + ], + "doc": "+ 一直往下执行，直到有子节点返回 `success` 则返回 `success`\n+ 若全部节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "Sequence", + "type": "Composite", + "children": -1, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "顺序执行", + "doc": "+ 一直往下执行，只有当所有子节点都返回 `success`, 才返回 `success`\n+ 若子节点返回 `failure`，则直接返回 `failure` 状态\n+ 其余情况返回 `running` 状态\n" + }, + { + "name": "SetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "设置对象字段值", + "input": [ + "输入对象", + "字段(field)?", + "值(value)?" + ], + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + }, + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "值(value)" + } + ], + "doc": "+ 对输入对象设置 `field` 和 `value`\n+ 输入参数1必须为对象，否则返回 `failure`\n+ 如果 `field` 不为 `string`, 也返回 `failure`\n+ 如果 `value` 为 `undefined` 或 `null`, 则删除 `field` 的值\n" + }, + { + "name": "Switch", + "type": "Composite", + "children": -1, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "分支执行", + "doc": "+ 按顺序测试 `Case` 节点的判断条件（第一个子节点）\n+ 若测试返回 `success` 则执行 `Case` 第二个子节点，并返回子节点的执行状态\n+ 若没有判断为 `success` 的 `Case` 节点，则返回 `failure`\n" + }, + { + "name": "Timeout", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "|running", + "failure" + ], + "desc": "超时", + "input": [ + "超时时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "超时时间", + "oneof": "超时时间" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点执行超时或返回 `failure` 时，返回 `failure`\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "Wait", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待", + "input": [ + "等待时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "等待时间", + "oneof": "等待时间" + }, + { + "name": "random", + "type": "float?", + "desc": "随机范围" + } + ] + }, + { + "name": "WaitForEvent", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待事件触发", + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件名称" + } + ] + }, + { + "name": "Watchdog", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "测试执行", + "doc": "+ 必须有3个子节点\n+ 第一个子节点为条件节点，返回 `success` 或 `failure` 状态\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点，不管子节点返回什么状态，都直接返回 `failure`\n+ 当第二个子节点返回 `running` 时，由本节点维护其运行状态\n+ 每一次 tick 都会先执行测试节点，只有当测试节点返回 `success`，才执行第二个子节点\n" + } +] \ No newline at end of file diff --git a/teen/workspace.b3-workspace b/teen/workspace.b3-workspace new file mode 100644 index 0000000..9a0c33c --- /dev/null +++ b/teen/workspace.b3-workspace @@ -0,0 +1,4 @@ +{ + "nodeConf": "node-config.b3-setting", + "metadata": [] +} \ No newline at end of file diff --git a/test1/example.json b/test1/example.json new file mode 100644 index 0000000..0b8c697 --- /dev/null +++ b/test1/example.json @@ -0,0 +1,429 @@ +{ + "$override": {}, + "custom": {}, + "desc": "幼年期待机状态树（依据 xlsx：幼年期行为树）", + "export": true, + "group": [], + "import": [], + "name": "idle_state", + "prefix": "", + "root": { + "$id": "rootIdle001", + "id": "1", + "name": "Parallel", + "children": [ + { + "$id": "idleLoop001", + "id": "10", + "name": "Repeat", + "children": [ + { + "$id": "idleSeq001", + "id": "11", + "name": "Sequence", + "children": [ + { + "$id": "idleLog001", + "id": "12", + "name": "Log", + "args": { + "level": "info", + "message": "待机: 基础表情 BABY_EMOMID_BASIC_NORMAL" + } + }, + { + "$id": "idleWait001", + "id": "13", + "name": "Wait", + "args": { + "time": 10 + } + }, + { + "$id": "idleCur001", + "id": "14", + "name": "Log", + "args": { + "level": "info", + "message": "待机触发: 好奇 BABY_EMOCHAT_CURIOUS_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evSwipe001", + "id": "20", + "name": "Repeat", + "children": [ + { + "$id": "evSwipeSeq", + "id": "21", + "name": "Sequence", + "children": [ + { + "$id": "evSwipeWait", + "id": "22", + "name": "WaitForEvent", + "args": { + "event": "touch_strip_swipe" + } + }, + { + "$id": "evSwipeIf", + "id": "23", + "name": "IfElse", + "children": [ + { + "$id": "evSwipeCheck", + "id": "24", + "name": "Check", + "args": { + "value": "emotionHigh" + } + }, + { + "$id": "evSwipeHigh", + "id": "25", + "name": "Log", + "args": { + "level": "info", + "message": "触摸条左/右滑(高情绪): 撒娇 BABY_EMOLOW_CLINGY_NORMAL" + } + }, + { + "$id": "evSwipeLow", + "id": "26", + "name": "Log", + "args": { + "level": "info", + "message": "触摸条左/右滑(低情绪): 委屈 BABY_EMOCHAT_HURT_NORMAL" + } + } + ] + } + ] + } + ] + }, + { + "$id": "evLong001", + "id": "30", + "name": "Repeat", + "children": [ + { + "$id": "evLongSeq", + "id": "31", + "name": "Sequence", + "children": [ + { + "$id": "evLongWait", + "id": "32", + "name": "WaitForEvent", + "args": { + "event": "touch_strip_long" + } + }, + { + "$id": "evLongLog", + "id": "33", + "name": "Log", + "args": { + "level": "info", + "message": "长时间抚摸: 害羞 BABY_EMOCHAT_SHY_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evTap001", + "id": "40", + "name": "Repeat", + "children": [ + { + "$id": "evTapSeq", + "id": "41", + "name": "Sequence", + "children": [ + { + "$id": "evTapWait", + "id": "42", + "name": "WaitForEvent", + "args": { + "event": "touch_strip_tap_once" + } + }, + { + "$id": "evTapLog", + "id": "43", + "name": "Log", + "args": { + "level": "info", + "message": "敲击1下: 疑惑 BABY_EMOCHAT_CONFUSE_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evLeft001", + "id": "50", + "name": "Repeat", + "children": [ + { + "$id": "evLeftSeq", + "id": "51", + "name": "Sequence", + "children": [ + { + "$id": "evLeftWait", + "id": "52", + "name": "WaitForEvent", + "args": { + "event": "left_ear_press" + } + }, + { + "$id": "evLeftLog", + "id": "53", + "name": "Log", + "args": { + "level": "info", + "message": "左耳按一下: 菜单呼出" + } + } + ] + } + ] + }, + { + "$id": "evRight001", + "id": "60", + "name": "Repeat", + "children": [ + { + "$id": "evRightSeq", + "id": "61", + "name": "Sequence", + "children": [ + { + "$id": "evRightWait", + "id": "62", + "name": "WaitForEvent", + "args": { + "event": "right_ear_press" + } + }, + { + "$id": "evRightLog", + "id": "63", + "name": "Log", + "args": { + "level": "info", + "message": "右耳按一下: 学说话 BABY_EMORAISING_LEARNTOTALK_NORMAL (音频缺失)" + } + } + ] + } + ] + }, + { + "$id": "evRadarIn01", + "id": "70", + "name": "Repeat", + "children": [ + { + "$id": "evRadarInSq", + "id": "71", + "name": "Sequence", + "children": [ + { + "$id": "evRadarInWt", + "id": "72", + "name": "WaitForEvent", + "args": { + "event": "radar_person_enter_front_2_3m" + } + }, + { + "$id": "evRadarInLg", + "id": "73", + "name": "Log", + "args": { + "level": "info", + "message": "雷达2-3m正面走来: 撒娇 BABY_EMOLOW_CLINGY_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evRadarOut1", + "id": "80", + "name": "Repeat", + "children": [ + { + "$id": "evRadarOutS", + "id": "81", + "name": "Sequence", + "children": [ + { + "$id": "evRadarOutW", + "id": "82", + "name": "WaitForEvent", + "args": { + "event": "radar_person_leave_2_3m" + } + }, + { + "$id": "evRadarOutL", + "id": "83", + "name": "Log", + "args": { + "level": "info", + "message": "走出雷达范围: 好奇 BABY_EMOCHAT_CURIOUS_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evSound001", + "id": "90", + "name": "Repeat", + "children": [ + { + "$id": "evSoundSeq", + "id": "91", + "name": "Sequence", + "children": [ + { + "$id": "evSoundWait", + "id": "92", + "name": "WaitForEvent", + "args": { + "event": "sound_localized" + } + }, + { + "$id": "evSoundLog", + "id": "93", + "name": "Log", + "args": { + "level": "info", + "message": "听到声音并定位: 学说话 BABY_EMORAISING_LEARNTOTALK_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evPickup001", + "id": "100", + "name": "Repeat", + "children": [ + { + "$id": "evPickupSeq", + "id": "101", + "name": "Sequence", + "children": [ + { + "$id": "evPickupW", + "id": "102", + "name": "WaitForEvent", + "args": { + "event": "posture_pickup" + } + }, + { + "$id": "evPickupL", + "id": "103", + "name": "Log", + "args": { + "level": "info", + "message": "识别拿起: 好奇 BABY_EMOCHAT_CURIOUS_NORMAL" + } + } + ] + } + ] + }, + { + "$id": "evShake001", + "id": "110", + "name": "Repeat", + "children": [ + { + "$id": "evShakeSeq", + "id": "111", + "name": "Sequence", + "children": [ + { + "$id": "evShakeWait", + "id": "112", + "name": "WaitForEvent", + "args": { + "event": "posture_shake" + } + }, + { + "$id": "evShakeLog", + "id": "113", + "name": "Log", + "args": { + "level": "warn", + "message": "识别摇晃: 晕了的表情(表情缺失)" + } + } + ] + } + ] + }, + { + "$id": "evUpside001", + "id": "120", + "name": "Repeat", + "children": [ + { + "$id": "evUpsideSeq", + "id": "121", + "name": "Sequence", + "children": [ + { + "$id": "evUpsideWt", + "id": "122", + "name": "WaitForEvent", + "args": { + "event": "posture_upside_down" + } + }, + { + "$id": "evUpsideLog", + "id": "123", + "name": "Log", + "args": { + "level": "warn", + "message": "识别倒立: 晕了的表情(表情缺失)" + } + } + ] + } + ] + } + ] + }, + "vars": [ + { + "name": "emotionHigh", + "desc": "当前是否高情绪值，供触摸条左/右滑分支判断" + } + ], + "version": "2.0.0" +} diff --git a/test1/node-config.b3-setting b/test1/node-config.b3-setting new file mode 100644 index 0000000..df30ecf --- /dev/null +++ b/test1/node-config.b3-setting @@ -0,0 +1,856 @@ +[ + { + "name": "AlwaysFailure", + "type": "Decorator", + "children": 1, + "status": [ + "failure", + "|running" + ], + "desc": "始终返回失败", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `failure`\n" + }, + { + "name": "AlwaysRunning", + "type": "Decorator", + "children": 1, + "status": [ + "running" + ], + "desc": "始终返回运行中状态", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 始终返回 `running`\n" + }, + { + "name": "AlwaysSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running" + ], + "desc": "始终返回成功", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `running` 时，返回 `running`\n+ 其它情况，不管子节点是否成功都返回 `success`\n" + }, + { + "name": "Assert", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "断言", + "args": [ + { + "name": "message", + "type": "string", + "desc": "消息" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，抛出异常\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "Calculate", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "简单的数值公式计算", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "计算公式" + } + ], + "output": [ + "计算结果" + ], + "doc": "+ 做简单的数值公式计算，返回结果到输出\n" + }, + { + "name": "Case", + "type": "Composite", + "children": 2, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "分支选择", + "doc": "+ 必须有两个子节点\n+ 第一个子节点为判断条件\n+ 第二个子节点为判断为 `success` 时执行的节点\n+ 此节点不会真正意义的执行，而是交由 `Switch` 节点来执行\n" + }, + { + "name": "Check", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "检查True或False", + "args": [ + { + "name": "value", + "type": "expr", + "desc": "值" + } + ], + "doc": "+ 做简单数值公式判定，返回 `success` 或 `failure`\n" + }, + { + "name": "Concat", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "将两个输入合并为一个数组，并返回新数组", + "input": [ + "数组1", + "数组2" + ], + "output": [ + "新数组" + ], + "doc": "+ 如果输入不是数组，则返回 `failure`\n" + }, + { + "name": "Delay", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "延时执行子节点", + "input": [ + "延时时间?" + ], + "args": [ + { + "name": "delay", + "type": "float?", + "desc": "延时时间", + "oneof": "延时时间" + }, + { + "name": "cacheVars", + "type": "string[]?", + "desc": "暂存环境变量" + } + ], + "doc": "+ 当延时触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Filter", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "返回满足条件的元素", + "input": [ + "输入数组" + ], + "output": [ + "变量", + "新数组" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`，满足条件的元素放入新数组\n+ 只有当新数组不为空时，才返回 `success`\n" + }, + { + "name": "ForEach", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "遍历数组", + "input": [ + "数组" + ], + "output": [ + "变量", + "索引?" + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 遍历输入数组，将当前元素写入`变量`\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "GetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "获取对象的字段值", + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + } + ], + "input": [ + "对象", + "字段(field)?" + ], + "output": [ + "字段值(value)" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 只有获取到合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "IfElse", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "条件执行", + "doc": "+ 必须有三个子节点\n+ 第一个子节点为条件节点\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点,\n" + }, + { + "name": "Includes", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断元素是否在数组中", + "input": [ + "数组", + "元素" + ], + "doc": "+ 若输入的元素不合法，返回 `failure`\n+ 只有数组包含元素时返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Index", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "索引输入的数组", + "args": [ + { + "name": "index", + "type": "int?", + "desc": "索引", + "oneof": "索引" + } + ], + "input": [ + "数组", + "索引?" + ], + "output": [ + "值" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 索引数组的时候，第一个元素的索引为 0\n+ 只有索引到有合法元素时候才会返回 `success`，否则返回 `failure`\n" + }, + { + "name": "Invert", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "!failure", + "|running" + ], + "desc": "反转子节点运行结果", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `success` 时返回 `failure`\n+ 当子节点返回 `failure` 时返回 `success`\n+ 当子节点返回 `error` 时返回 `error`\n" + }, + { + "name": "IsNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否不存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "JustFailure", + "type": "Action", + "children": 0, + "status": [ + "failure" + ], + "desc": "什么都不干，只返回失败" + }, + { + "name": "JustSuccess", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "什么都不干，只返回成功" + }, + { + "name": "Let", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "定义新的变量名", + "input": [ + "已存在变量名?" + ], + "args": [ + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "已存在变量名" + } + ], + "output": [ + "新变量名" + ], + "doc": "+ 如果有输入变量，则给已有变量重新定义一个名字\n+ 如果`值(value)`为 `null`，则清除变量\n" + }, + { + "name": "Listen", + "type": "Decorator", + "children": 1, + "status": [ + "success" + ], + "desc": "侦听事件", + "input": [ + "目标对象?" + ], + "output": [ + "事件目标?", + "事件参数..." + ], + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件", + "options": [ + { + "source": [ + { + "name": "行为树被中断", + "value": "treeInterrupted" + }, + { + "name": "行为树开始执行前", + "value": "treeBeforeTicked" + }, + { + "name": "行为树执行完成后", + "value": "treeAfterTicked" + }, + { + "name": "行为树执行成功后", + "value": "treeTickedSuccess" + }, + { + "name": "行为树执行失败后", + "value": "treeTickedFailure" + }, + { + "name": "行为树被清理", + "value": "treeCleaned" + } + ] + } + ] + } + ], + "doc": "+ 当事件触发时，执行第一个子节点，多个仅执行第一个\n+ 如果子节点返回 `running`，会中断执行并清理执行栈" + }, + { + "name": "Log", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "打印日志", + "input": [ + "日志?" + ], + "args": [ + { + "name": "message", + "type": "string", + "desc": "日志" + }, + { + "name": "level", + "type": "string", + "desc": "日志级别", + "default": "log", + "options": [ + { + "source": [ + { + "name": "LOG", + "value": "log" + }, + { + "name": "INFO", + "value": "info" + }, + { + "name": "DEBUG", + "value": "debug" + }, + { + "name": "WARN", + "value": "warn" + }, + { + "name": "ERROR", + "value": "error" + } + ] + } + ] + } + ] + }, + { + "name": "Math", + "type": "Action", + "desc": "执行数学运算", + "input": [ + "参数..." + ], + "output": [ + "结果" + ], + "status": [ + "success", + "failure" + ], + "args": [ + { + "name": "op", + "type": "string", + "desc": "数学运算类型", + "options": [ + { + "source": [ + { + "name": "绝对值", + "value": "abs" + }, + { + "name": "向上取整", + "value": "ceil" + }, + { + "name": "向下取整", + "value": "floor" + }, + { + "name": "四舍五入", + "value": "round" + }, + { + "name": "符号", + "value": "sign" + }, + { + "name": "正弦", + "value": "sin" + }, + { + "name": "余弦", + "value": "cos" + }, + { + "name": "正切", + "value": "tan" + }, + { + "name": "反正切2", + "value": "atan2" + }, + { + "name": "幂运算", + "value": "pow" + }, + { + "name": "平方根", + "value": "sqrt" + }, + { + "name": "自然对数", + "value": "log" + }, + { + "name": "最小值", + "value": "min" + }, + { + "name": "最大值", + "value": "max" + }, + { + "name": "随机数", + "value": "random" + }, + { + "name": "随机整数", + "value": "randInt" + }, + { + "name": "随机浮点数", + "value": "randFloat" + }, + { + "name": "求和", + "value": "sum" + }, + { + "name": "平均值", + "value": "average" + }, + { + "name": "乘积", + "value": "product" + } + ] + } + ] + }, + { + "name": "value1", + "type": "float?", + "desc": "参数1（优先使用）" + }, + { + "name": "value2", + "type": "float?", + "desc": "参数2（优先使用）" + } + ] + }, + { + "name": "NotNull", + "type": "Condition", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "判断变量是否存在", + "input": [ + "判断的变量" + ] + }, + { + "name": "Now", + "type": "Action", + "children": 0, + "status": [ + "success" + ], + "desc": "获取当前时间", + "output": [ + "当前时间" + ] + }, + { + "name": "Once", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "failure", + "|running" + ], + "desc": "只执行一次", + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 第一次执行完全部子节点时返回 `success`，之后永远返回 `failure`" + }, + { + "name": "Parallel", + "type": "Composite", + "status": [ + "success", + "|running" + ], + "children": -1, + "desc": "并行执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `running` 时，返回 `running` 状态\n+ 执行完所有子节点后，返回 `success`" + }, + { + "name": "Push", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "向数组中添加元素", + "input": [ + "数组", + "元素" + ], + "doc": "+ 当变量`数组`不是数组类型时返回 `failure`\n+ 其余返回 `success`\n" + }, + { + "name": "Race", + "type": "Composite", + "status": [ + "|success", + "&failure", + "|running" + ], + "children": -1, + "desc": "竞争执行", + "doc": "+ 并行执行所有子节点\n+ 当有子节点返回 `success` 时，立即返回 `success` 状态，并中断其他子节点\n+ 如果所有子节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "RandomIndex", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "随机返回输入的其中一个!", + "input": [ + "输入目标" + ], + "output": [ + "随机目标", + "索引?" + ], + "doc": "+ 合法元素不包括 `undefined` 和 `null`\n+ 在输入数组中，随机返回其中一个\n+ 当输入数组为空时，或者没有合法元素，返回 `failure`\n" + }, + { + "name": "Repeat", + "type": "Decorator", + "children": 1, + "status": [ + "success", + "|running", + "|failure" + ], + "desc": "循环执行", + "input": [ + "循环次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "循环次数", + "oneof": "循环次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点返回 `failure` 时，退出遍历并返回 `failure` 状态\n+ 执行完所有子节点后，返回 `success`\n" + }, + { + "name": "RetryUntilFailure", + "type": "Decorator", + "children": 1, + "status": [ + "!success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回失败", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `failure` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "RetryUntilSuccess", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "failure", + "running" + ], + "desc": "一直尝试直到子节点返回成功", + "input": [ + "最大尝试次数?" + ], + "args": [ + { + "name": "count", + "type": "int?", + "desc": "最大尝试次数" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 只有当子节点返回 `success` 时，才返回 `success`，其它情况返回 `running` 状态\n+ 如果设定了尝试次数，超过指定次数则返回 `failure`" + }, + { + "name": "Selector", + "type": "Composite", + "children": -1, + "desc": "选择执行", + "status": [ + "|success", + "&failure", + "|running" + ], + "doc": "+ 一直往下执行，直到有子节点返回 `success` 则返回 `success`\n+ 若全部节点返回 `failure`或 `error` 则返回 `failure`" + }, + { + "name": "Sequence", + "type": "Composite", + "children": -1, + "status": [ + "&success", + "|failure", + "|running" + ], + "desc": "顺序执行", + "doc": "+ 一直往下执行，只有当所有子节点都返回 `success`, 才返回 `success`\n+ 若子节点返回 `failure`，则直接返回 `failure` 状态\n+ 其余情况返回 `running` 状态\n" + }, + { + "name": "SetField", + "type": "Action", + "children": 0, + "status": [ + "success", + "failure" + ], + "desc": "设置对象字段值", + "input": [ + "输入对象", + "字段(field)?", + "值(value)?" + ], + "args": [ + { + "name": "field", + "type": "string?", + "desc": "字段(field)", + "oneof": "字段(field)" + }, + { + "name": "value", + "type": "json?", + "desc": "值(value)", + "oneof": "值(value)" + } + ], + "doc": "+ 对输入对象设置 `field` 和 `value`\n+ 输入参数1必须为对象，否则返回 `failure`\n+ 如果 `field` 不为 `string`, 也返回 `failure`\n+ 如果 `value` 为 `undefined` 或 `null`, 则删除 `field` 的值\n" + }, + { + "name": "Switch", + "type": "Composite", + "children": -1, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "分支执行", + "doc": "+ 按顺序测试 `Case` 节点的判断条件（第一个子节点）\n+ 若测试返回 `success` 则执行 `Case` 第二个子节点，并返回子节点的执行状态\n+ 若没有判断为 `success` 的 `Case` 节点，则返回 `failure`\n" + }, + { + "name": "Timeout", + "type": "Decorator", + "children": 1, + "status": [ + "|success", + "|running", + "failure" + ], + "desc": "超时", + "input": [ + "超时时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "超时时间", + "oneof": "超时时间" + } + ], + "doc": "+ 只能有一个子节点，多个仅执行第一个\n+ 当子节点执行超时或返回 `failure` 时，返回 `failure`\n+ 其余情况返回子节点的执行状态\n" + }, + { + "name": "Wait", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待", + "input": [ + "等待时间?" + ], + "args": [ + { + "name": "time", + "type": "float?", + "desc": "等待时间", + "oneof": "等待时间" + }, + { + "name": "random", + "type": "float?", + "desc": "随机范围" + } + ] + }, + { + "name": "WaitForEvent", + "type": "Action", + "children": 0, + "status": [ + "success", + "running" + ], + "desc": "等待事件触发", + "args": [ + { + "name": "event", + "type": "string", + "desc": "事件名称" + } + ] + }, + { + "name": "Watchdog", + "type": "Composite", + "children": 3, + "status": [ + "|success", + "|failure", + "|running" + ], + "desc": "测试执行", + "doc": "+ 必须有3个子节点\n+ 第一个子节点为条件节点，返回 `success` 或 `failure` 状态\n+ 第二个子节点为条件为 `success` 时执行的节点\n+ 第三个子节点为条件为 `failure` 时执行的节点，不管子节点返回什么状态，都直接返回 `failure`\n+ 当第二个子节点返回 `running` 时，由本节点维护其运行状态\n+ 每一次 tick 都会先执行测试节点，只有当测试节点返回 `success`，才执行第二个子节点\n" + } +] \ No newline at end of file diff --git a/test1/workspace.b3-workspace b/test1/workspace.b3-workspace new file mode 100644 index 0000000..7d7d4b8 --- /dev/null +++ b/test1/workspace.b3-workspace @@ -0,0 +1,13 @@ +{ + "nodeConf": "node-config.b3-setting", + "metadata": [], + "files": [ + { + "path": "example.json", + "desc": "幼年期待机状态树" + } + ], + "settings": { + "checkExpr": true + } +} diff --git a/test1/行为树需求_幼年期行为树 (1).xlsx b/test1/行为树需求_幼年期行为树 (1).xlsx new file mode 100644 index 0000000000000000000000000000000000000000..61efd0876ad4fe9ad42e52db8b442afdc5bbeca4 GIT binary patch literal 7507 zcmaJ`1yEdBv&P-sf;$8c0YY$h*Fdnr-Q9vqa0!y&?jg9_;2HwMAPE{|(BLu;c5C0} z-}nCQTXk>Use8JnzjM0#eBV)1ghwENL3zCXX(W$7c-wP&Il0=oSpxv>Zk&HScsRTr z?2EGORKa>=z_p`Nfm4Os_e)IlG^QzWeSi{c7Ogj)mc}&ZRH4%TGxex7I&9np1is+( z!zSK28{`=k&a6WW_k0H=>ua9+l#V@JJ&+1T_Ek|SmWBrS1iEu}_i0CXN6+>UU6bP- zT3=fcs}GX#camTNaYBaTRIBZsE{b8Uw*(KVhMFfaU2%!9O088teJnv-ji%}I;Q;!x z8$@l%7?z9-E%vjBK=DBaodvFSXA8deByK;`zsh+pmdzif`2lr 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