RoboWaiter/BTExpansionCode/BehaviorTree.py

import random


#叶结点
class Leaf:
    def __init__(self,type,content,mincost=0):
        self.type=type
        self.content=content #conditionset or action
        self.parent=None
        self.parent_index=0
        self.mincost=mincost

    # tick 叶节点，返回返回值以及对应的条件或行动对象self.content
    def tick(self,state):
        if self.type=='cond':
            if self.content <= state:
                return 'success',self.content
            else:
                return 'failure',self.content
        if self.type=='act':
            if self.content.pre<=state:
                return 'running',self.content #action
            else:
                return 'failure',self.content

    def cost_tick(self,state,cost,ticks):
        if self.type=='cond':
            ticks+=1
            if self.content <= state:
                return 'success',self.content,cost,ticks
            else:
                return 'failure',self.content,cost,ticks
        if self.type=='act':
            ticks += 1
            if self.content.pre<=state:
                return 'running',self.content,cost+self.content.cost,ticks #action
            else:
                return 'failure',self.content,cost,ticks

    def __str__(self):
        print( self.content)
        return ''

    def print_nodes(self):
        print(self.content)

    def count_size(self):
        return 1


#可能包含控制结点的行为树
class ControlBT:
    def __init__(self,type):
        self.type=type
        self.children=[]
        self.parent=None
        self.parent_index=0


    def add_child(self,subtree_list):
        for subtree in subtree_list:
            self.children.append(subtree)
            subtree.parent=self
            subtree.parent_index=len(self.children)-1

    # tick行为树，根据不同控制结点逻辑tick子结点
    def tick(self,state):
        if len(self.children) < 1:
            print("error,no child")
        if self.type =='?':#选择结点，即或结点
            for child in self.children:
                val,obj=child.tick(state)
                if val=='success':
                    return val,obj
                if val=='running':
                    return val,obj
            return 'failure','?fails'
        if self.type =='>':#顺序结点，即与结点
            for child in self.children:
                val,obj=child.tick(state)
                if val=='failure':
                    return val,obj
                if val=='running':
                    return val,obj
            return 'success', '>success'
        if self.type =='act':#行动结点
            return self.children[0].tick(state)
        if self.type =='cond':#条件结点
            return self.children[0].tick(state)

    def cost_tick(self,state,cost,ticks):
        if len(self.children) < 1:
            print("error,no child")
        if self.type =='?':#选择结点，即或结点
            ticks += 1
            for child in self.children:
                ticks+=1
                val,obj,cost,ticks=child.cost_tick(state,cost,ticks)
                if val=='success':
                    return val,obj,cost,ticks
                if val=='running':
                    return val,obj,cost,ticks
            return 'failure','?fails',cost,ticks
        if self.type =='>':#顺序结点，即与结点
            for child in self.children:
                # print("state:",state,"cost",cost)
                ticks+=1
                val,obj,cost,ticks=child.cost_tick(state,cost,ticks)
                if val=='failure':
                    return val,obj,cost,ticks
                if val=='running':
                    return val,obj,cost,ticks
            return 'success', '>success',cost,ticks
        if self.type =='act':#行动结点
            return self.children[0].cost_tick(state,cost,ticks)
        if self.type =='cond':#条件结点
            return self.children[0].cost_tick(state,cost,ticks)

    def getFirstChild(self):
        return self.children[0]

    def __str__(self):
        print(self.type+'\n')
        for child in self.children:
            print (child)
        return ''

    def print_nodes(self):
        print(self.type)
        for child in self.children:
            child.print_nodes()

    # 递归统计树中结点数
    def count_size(self):
        result=1
        for child in self.children:
            result+= child.count_size()
        return result