tree_builder helper class, formatting consistency
parent
0ef55377b2
commit
2c6c5a2e74
359
include/bt.hpp
359
include/bt.hpp
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@ -2,224 +2,275 @@
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#include <coroutine>
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#include <iostream>
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#include <memory>
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#include <optional>
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#include <stdexcept>
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#include <utility>
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#include <optional>
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#include <vector>
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#include <memory>
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enum class task_result {
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failure,
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success
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};
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namespace bt {
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enum class task_result { failure, success };
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class node_task
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{
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class node_task {
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public:
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class promise_type;
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class promise_type;
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using handle_type = std::coroutine_handle<promise_type>;
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using handle_type = std::coroutine_handle<promise_type>;
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class promise_type {
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public:
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std::optional<task_result> result;
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handle_type get_return_object() noexcept {
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return handle_type::from_promise(*this);
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}
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std::suspend_always initial_suspend() noexcept { return {}; }
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std::suspend_always final_suspend() noexcept { return {}; }
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void return_value(task_result r) noexcept {
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result = r;
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}
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void unhandled_exception() noexcept {
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std::terminate(); // TODO: handle exception
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}
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};
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class awaiter {
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public:
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awaiter(handle_type handle) noexcept : _handle(handle) {}
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bool await_ready() const noexcept {
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return false;
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}
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auto await_suspend(std::coroutine_handle<>) noexcept {
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return _handle;
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}
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task_result await_resume() noexcept {
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return *_handle.promise().result;
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}
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private:
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handle_type _handle;
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};
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node_task(handle_type handle) noexcept : _handle(handle) {}
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node_task(node_task&& other) noexcept : _handle(other._handle) {
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other._handle = nullptr;
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class promise_type {
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public:
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std::optional<task_result> result;
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handle_type get_return_object() noexcept {
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return handle_type::from_promise(*this);
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}
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~node_task() {
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if (_handle) {
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_handle.destroy();
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}
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}
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std::suspend_always initial_suspend() noexcept { return {}; }
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node_task& operator=(node_task&& other) noexcept {
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if (&other != this) {
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if (_handle) {
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_handle.destroy();
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}
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_handle = other._handle;
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other._handle = nullptr;
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}
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return *this;
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}
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std::suspend_always final_suspend() noexcept { return {}; }
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awaiter operator co_await() noexcept {
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return awaiter{_handle};
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}
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void return_value(task_result r) noexcept { result = r; }
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void resume() noexcept {
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_handle.resume();
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void unhandled_exception() noexcept {
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std::terminate(); // TODO: handle exception
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}
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};
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bool done() const noexcept {
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return _handle.done();
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}
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class awaiter {
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public:
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awaiter(handle_type handle) noexcept : _handle(handle) {}
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task_result result() noexcept {
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return *_handle.promise().result;
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}
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bool await_ready() const noexcept { return false; }
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std::optional<task_result> try_result() noexcept {
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return _handle.promise().result;
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auto await_suspend(std::coroutine_handle<>) noexcept { return _handle; }
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task_result await_resume() noexcept { return *_handle.promise().result; }
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private:
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handle_type _handle;
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};
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node_task(handle_type handle) noexcept : _handle(handle) {}
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node_task(node_task &&other) noexcept : _handle(other._handle) {
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other._handle = nullptr;
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}
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~node_task() {
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if (_handle) {
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_handle.destroy();
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}
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}
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node_task &operator=(node_task &&other) noexcept {
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if (&other != this) {
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if (_handle) {
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_handle.destroy();
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}
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_handle = other._handle;
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other._handle = nullptr;
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}
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return *this;
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}
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awaiter operator co_await() noexcept { return awaiter{_handle}; }
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void resume() noexcept { _handle.resume(); }
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bool done() const noexcept { return _handle.done(); }
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task_result result() noexcept { return *_handle.promise().result; }
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std::optional<task_result> try_result() noexcept {
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return _handle.promise().result;
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}
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private:
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handle_type _handle;
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handle_type _handle;
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};
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using yield = std::suspend_always;
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template<typename Context>
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class behavior_node {
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template <typename Context> class behavior_node {
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public:
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virtual node_task tick(Context& ctx) noexcept = 0;
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virtual node_task tick(Context &ctx) noexcept = 0;
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virtual ~behavior_node() = default;
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virtual ~behavior_node() = default;
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};
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template<typename Context>
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template <typename Context>
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class sequence_node : public behavior_node<Context> {
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public:
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void add_child(std::unique_ptr<behavior_node<Context>>&& child) {
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_children.push_back(std::move(child));
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void add_child(std::unique_ptr<behavior_node<Context>> &&child) {
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_children.push_back(std::move(child));
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}
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node_task tick(Context &ctx) noexcept override {
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std::size_t idx = 0;
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while (idx < _children.size()) {
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auto task = _children[idx]->tick(ctx);
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while (!task.done()) {
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task.resume();
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if (idx < _children.size() - 1)
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co_await yield{};
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}
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if (task.result() == task_result::failure) {
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co_return task_result::failure;
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}
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++idx;
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}
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node_task tick(Context& ctx) noexcept override {
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std::size_t idx = 0;
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while (idx < _children.size()) {
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auto task = _children[idx]->tick(ctx);
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while (!task.done()) {
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task.resume();
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co_return task_result::success;
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}
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if (idx < _children.size() - 1)
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co_await yield{};
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}
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if (task.result() == task_result::failure) {
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co_return task_result::failure;
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}
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++idx;
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}
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co_return task_result::success;
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}
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private:
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std::vector<std::unique_ptr<behavior_node<Context>>> _children;
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std::vector<std::unique_ptr<behavior_node<Context>>> _children;
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};
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template<typename Context>
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auto sequence() {
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return std::make_unique<sequence_node<Context>>();
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template <typename Context> auto sequence() {
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return std::make_unique<sequence_node<Context>>();
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}
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template<typename Context>
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template <typename Context>
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class selector_node : public behavior_node<Context> {
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public:
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void add_child(std::unique_ptr<behavior_node<Context>>&& child) {
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_children.push_back(std::move(child));
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}
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void add_child(std::unique_ptr<behavior_node<Context>> &&child) {
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_children.push_back(std::move(child));
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}
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node_task tick(Context& ctx) noexcept override {
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for (std::size_t idx = 0; idx < _children.size(); ++idx) {
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auto task = _children[idx]->tick(ctx);
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while (!task.done()) {
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task.resume();
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co_await yield{};
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}
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node_task tick(Context &ctx) noexcept override {
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for (std::size_t idx = 0; idx < _children.size(); ++idx) {
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auto task = _children[idx]->tick(ctx);
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while (!task.done()) {
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task.resume();
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co_await yield{};
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}
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if (task.result() == task_result::success) {
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co_return task_result::success;
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}
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}
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co_return task_result::failure;
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if (task.result() == task_result::success) {
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co_return task_result::success;
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}
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}
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co_return task_result::failure;
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}
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private:
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std::vector<std::unique_ptr<behavior_node<Context>>> _children;
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std::vector<std::unique_ptr<behavior_node<Context>>> _children;
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};
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template<typename Context>
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auto selector() {
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return std::make_unique<selector_node<Context>>();
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template <typename Context> auto selector() {
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return std::make_unique<selector_node<Context>>();
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}
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template<typename Context, typename TickFn>
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template <typename Context, typename TickFn>
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class action_node : public behavior_node<Context> {
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public:
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action_node(TickFn tick) noexcept : _tick(tick) {}
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action_node(TickFn tick) noexcept : _tick(tick) {}
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node_task tick(Context& ctx) noexcept override {
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return _tick(ctx);
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}
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node_task tick(Context &ctx) noexcept override { return _tick(ctx); }
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private:
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TickFn _tick;
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TickFn _tick;
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};
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template<typename Context, typename TickFn>
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auto action(TickFn tick) {
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return std::make_unique<action_node<Context, TickFn>>(tick);
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template <typename Context, typename TickFn> auto action(TickFn tick) {
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return std::make_unique<action_node<Context, TickFn>>(tick);
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}
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template<typename Context, typename ConditionFn>
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template <typename Context, typename ConditionFn>
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class conditional_node : public behavior_node<Context> {
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public:
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conditional_node(ConditionFn condition) noexcept : _condition(condition) {}
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conditional_node(ConditionFn condition) noexcept : _condition(condition) {}
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node_task tick(Context& ctx) noexcept override {
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if (_condition(ctx)) {
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co_return task_result::success;
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}
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co_return task_result::failure;
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node_task tick(Context &ctx) noexcept override {
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if (_condition(ctx)) {
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co_return task_result::success;
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}
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co_return task_result::failure;
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}
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private:
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ConditionFn _condition;
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ConditionFn _condition;
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};
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template<typename Context, typename ConditionFn>
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template <typename Context, typename ConditionFn>
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auto conditional(ConditionFn condition) {
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return std::make_unique<conditional_node<Context, ConditionFn>>(condition);
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}
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return std::make_unique<conditional_node<Context, ConditionFn>>(condition);
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}
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template <typename Context> class tree_builder {
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public:
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tree_builder() noexcept : _root(nullptr) {}
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tree_builder &begin_sequence() {
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auto sequence = std::make_unique<sequence_node<Context>>();
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node_stack.push_back(sequence.get());
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if (!_root) {
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_root = std::move(sequence);
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} else {
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node_stack[node_stack.size() - 2]->add_child(std::move(sequence));
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}
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return *this;
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}
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tree_builder &end_sequence() {
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if (!node_stack.empty() &&
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dynamic_cast<sequence_node<Context> *>(node_stack.back()) != nullptr) {
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node_stack.pop_back();
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}
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return *this;
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}
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tree_builder &begin_selector() {
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auto selector = std::make_unique<selector_node<Context>>();
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node_stack.push_back(selector.get());
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if (!_root) {
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_root = std::move(selector);
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} else {
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node_stack[node_stack.size() - 2]->add_child(std::move(selector));
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}
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return *this;
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}
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tree_builder &end_selector() {
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if (!node_stack.empty() &&
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dynamic_cast<selector_node<Context> *>(node_stack.back()) != nullptr) {
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node_stack.pop_back();
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}
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return *this;
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}
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template <typename TickFn> tree_builder &action(TickFn tick) {
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if (node_stack.empty()) {
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throw std::runtime_error("Can't add an action outside a composite node.");
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}
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node_stack.back()->add_child(
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std::make_unique<action_node<Context, TickFn>>(tick));
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return *this;
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}
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template <typename ConditionFn>
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tree_builder &conditional(ConditionFn condition) {
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if (node_stack.empty()) {
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throw std::runtime_error(
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"Can't add a conditional outside a composite node.");
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}
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node_stack.back()->add_child(
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std::make_unique<conditional_node<Context, ConditionFn>>(condition));
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return *this;
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}
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std::unique_ptr<behavior_node<Context>> build() { return std::move(_root); }
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private:
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std::unique_ptr<behavior_node<Context>> _root;
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std::vector<behavior_node<Context> *> node_stack;
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};
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} // namespace bt
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