IAPDemo/Libraries/red_utils/BehaviorTree/RUBehaviacTree.cpp

#include "RUBehaviacTree.h"
#include "RUBehaviacTreeManger.h"

NS_RU_BEGIN


RUBehaviacTree::RUBehaviacTree()
{
    
}

RUBehaviacTree::~RUBehaviacTree()
{

}

bool RUBehaviacTree::loadBt(const std::string& btName)
{
    std::string btFile = btName.substr(0, btName.find(".xml"));
    bool isOk = btload(btFile.c_str());
    CCASSERT(isOk, "加载行为树失败");
    if(isOk) {
        btsetcurrent(btFile.c_str());
    }
    return isOk;
}

void RUBehaviacTree::setData(const std::map<std::string, std::string>& stringMap)
{
    
}

void RUBehaviacTree::runBehaviacTree(){
    runBehaviacTree({},nullptr,false);
}

void RUBehaviacTree::runBehaviacTree(const std::map<std::string, std::string>& stringMap, std::function<void(bool isSuccess)> treeRunEndCb, bool removeSelf){
    _isRunning = true;
    _removeSelf = removeSelf;
    setData(stringMap);
    _treeRunEndCb = treeRunEndCb;
    RUBehaviacTreeManger::getInstance()->_addBehaviacTree(this);
    _update();
}

void RUBehaviacTree::_update(){
    if(_isRunning){
        behaviac::EBTStatus status = btexec();
        if(status != behaviac::EBTStatus::BT_RUNNING){
            _isRunning = false;
            RUBehaviacTreeManger::getInstance()->_removeBehaviacTree(this);
            if (_treeRunEndCb != nullptr) {
                ///因为同一个物件连续执行多个事件时，runBehaviacTree函数中会把_treeRunEndCb覆盖，导致地址错误。
                std::function<void(bool isSuccess)> tTreeRunEndCb = _treeRunEndCb;
                _treeRunEndCb = nullptr;
                tTreeRunEndCb(status == behaviac::EBTStatus::BT_SUCCESS);
            }
            if (_removeSelf) {
                behaviac::Agent::Destroy(this);
            }
        }
    }
}

behaviac::EBTStatus RUBehaviacTree::_runIntervalAction(const std::string& actKey, const std::function<void(std::function<void(bool isSuccess)>)>& actFunc)
{
    if (actKey != _actKey) {
        _actKey = actKey;
        _actStatus = behaviac::EBTStatus::BT_INVALID;
    }
    behaviac::EBTStatus status = _actStatus;
    if (status == behaviac::EBTStatus::BT_INVALID) {
        _actStatus = behaviac::EBTStatus::BT_RUNNING;
        status = _actStatus;
        if(actFunc) {
            actFunc([=](bool isSuccess){
                if(isSuccess) {
                    _actStatus = behaviac::EBTStatus::BT_SUCCESS;
                } else {
                    _actStatus = behaviac::EBTStatus::BT_FAILURE;
                }
            });
        }
    }else if(status == behaviac::EBTStatus::BT_SUCCESS || status == behaviac::EBTStatus::BT_FAILURE){
        _actStatus = behaviac::EBTStatus::BT_INVALID;
        _actKey = "";
    }
    return status;
    
}

bool RUBehaviacTree::isRunning()
{
    return _isRunning;
}
NS_RU_END