d803bfe2b1
git-subtree-dir: vendor/ruvector git-subtree-split: b64c21726f2bb37286d9ee36a7869fef60cc6900
86 lines
3.1 KiB
Rust
86 lines
3.1 KiB
Rust
//! Example: composable behavior trees for robot task execution.
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//!
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//! Demonstrates:
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//! - Building a patrol behavior with sequence/selector/decorator nodes
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//! - Ticking the tree and observing status changes
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//! - Using the blackboard for inter-node communication
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use ruvector_robotics::cognitive::{
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BehaviorNode, BehaviorStatus, BehaviorTree, DecoratorType,
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};
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fn main() {
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println!("=== Behavior Tree Demo ===\n");
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// Build a patrol behavior:
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// Selector [
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// Sequence [has_obstacle → avoid_obstacle]
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// Sequence [has_target → move_to_target → interact]
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// Repeat(3) [ patrol_waypoint ]
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// ]
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let tree_root = BehaviorNode::Selector(vec![
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// Priority 1: avoid obstacles
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BehaviorNode::Sequence(vec![
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BehaviorNode::Condition("has_obstacle".into()),
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BehaviorNode::Action("avoid_obstacle".into()),
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]),
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// Priority 2: pursue target
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BehaviorNode::Sequence(vec![
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BehaviorNode::Condition("has_target".into()),
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BehaviorNode::Action("move_to_target".into()),
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BehaviorNode::Action("interact".into()),
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]),
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// Priority 3: patrol
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BehaviorNode::Decorator(
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DecoratorType::Repeat(3),
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Box::new(BehaviorNode::Action("patrol_waypoint".into())),
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),
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]);
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let mut tree = BehaviorTree::new(tree_root);
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// Scenario 1: No obstacle, no target → patrol
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println!("--- Scenario 1: Patrolling ---");
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tree.set_action_result("patrol_waypoint", BehaviorStatus::Success);
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tree.set_action_result("avoid_obstacle", BehaviorStatus::Success);
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tree.set_action_result("move_to_target", BehaviorStatus::Success);
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tree.set_action_result("interact", BehaviorStatus::Success);
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let status = tree.tick();
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println!(" Tick 1 result: {:?}", status);
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println!(" (Should patrol since no conditions are true)\n");
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// Scenario 2: Obstacle detected
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println!("--- Scenario 2: Obstacle detected ---");
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tree.set_condition("has_obstacle", true);
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let status = tree.tick();
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println!(" Tick 2 result: {:?}", status);
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println!(" (Should avoid obstacle via selector priority)\n");
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// Scenario 3: Obstacle cleared, target found
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println!("--- Scenario 3: Target acquired ---");
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tree.set_condition("has_obstacle", false);
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tree.set_condition("has_target", true);
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let status = tree.tick();
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println!(" Tick 3 result: {:?}", status);
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println!(" (Should move to target and interact)\n");
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// Scenario 4: Timeout decorator
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println!("--- Scenario 4: Timeout behavior ---");
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let timeout_tree = BehaviorNode::Decorator(
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DecoratorType::Timeout(2),
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Box::new(BehaviorNode::Action("long_task".into())),
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);
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let mut t2 = BehaviorTree::new(timeout_tree);
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t2.set_action_result("long_task", BehaviorStatus::Running);
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for i in 1..=4 {
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let s = t2.tick();
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println!(" Tick {}: {:?}{}", i, s,
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if s == BehaviorStatus::Failure { " (TIMED OUT)" } else { "" }
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);
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}
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println!("\nFinal tick count: {}", tree.context().tick_count);
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}
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