Squashed 'vendor/ruvector/' content from commit b64c2172

git-subtree-dir: vendor/ruvector
git-subtree-split: b64c21726f2bb37286d9ee36a7869fef60cc6900

crates/ruvector-robotics/examples/behavior_tree.rs

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+//! Example: composable behavior trees for robot task execution.
+//!
+//! Demonstrates:
+//! - Building a patrol behavior with sequence/selector/decorator nodes
+//! - Ticking the tree and observing status changes
+//! - Using the blackboard for inter-node communication
+
+use ruvector_robotics::cognitive::{
+    BehaviorNode, BehaviorStatus, BehaviorTree, DecoratorType,
+};
+
+fn main() {
+    println!("=== Behavior Tree Demo ===\n");
+
+    // Build a patrol behavior:
+    //   Selector [
+    //     Sequence [has_obstacle → avoid_obstacle]
+    //     Sequence [has_target → move_to_target → interact]
+    //     Repeat(3) [ patrol_waypoint ]
+    //   ]
+    let tree_root = BehaviorNode::Selector(vec![
+        // Priority 1: avoid obstacles
+        BehaviorNode::Sequence(vec![
+            BehaviorNode::Condition("has_obstacle".into()),
+            BehaviorNode::Action("avoid_obstacle".into()),
+        ]),
+        // Priority 2: pursue target
+        BehaviorNode::Sequence(vec![
+            BehaviorNode::Condition("has_target".into()),
+            BehaviorNode::Action("move_to_target".into()),
+            BehaviorNode::Action("interact".into()),
+        ]),
+        // Priority 3: patrol
+        BehaviorNode::Decorator(
+            DecoratorType::Repeat(3),
+            Box::new(BehaviorNode::Action("patrol_waypoint".into())),
+        ),
+    ]);
+
+    let mut tree = BehaviorTree::new(tree_root);
+
+    // Scenario 1: No obstacle, no target → patrol
+    println!("--- Scenario 1: Patrolling ---");
+    tree.set_action_result("patrol_waypoint", BehaviorStatus::Success);
+    tree.set_action_result("avoid_obstacle", BehaviorStatus::Success);
+    tree.set_action_result("move_to_target", BehaviorStatus::Success);
+    tree.set_action_result("interact", BehaviorStatus::Success);
+
+    let status = tree.tick();
+    println!("  Tick 1 result: {:?}", status);
+    println!("  (Should patrol since no conditions are true)\n");
+
+    // Scenario 2: Obstacle detected
+    println!("--- Scenario 2: Obstacle detected ---");
+    tree.set_condition("has_obstacle", true);
+    let status = tree.tick();
+    println!("  Tick 2 result: {:?}", status);
+    println!("  (Should avoid obstacle via selector priority)\n");
+
+    // Scenario 3: Obstacle cleared, target found
+    println!("--- Scenario 3: Target acquired ---");
+    tree.set_condition("has_obstacle", false);
+    tree.set_condition("has_target", true);
+    let status = tree.tick();
+    println!("  Tick 3 result: {:?}", status);
+    println!("  (Should move to target and interact)\n");
+
+    // Scenario 4: Timeout decorator
+    println!("--- Scenario 4: Timeout behavior ---");
+    let timeout_tree = BehaviorNode::Decorator(
+        DecoratorType::Timeout(2),
+        Box::new(BehaviorNode::Action("long_task".into())),
+    );
+    let mut t2 = BehaviorTree::new(timeout_tree);
+    t2.set_action_result("long_task", BehaviorStatus::Running);
+
+    for i in 1..=4 {
+        let s = t2.tick();
+        println!("  Tick {}: {:?}{}", i, s,
+            if s == BehaviorStatus::Failure { " (TIMED OUT)" } else { "" }
+        );
+    }
+
+    println!("\nFinal tick count: {}", tree.context().tick_count);
+}