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Behavior Tree for Javascript
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<h2><a href="index.html">Home</a></h2><h3>Classes</h3><ul><li><a href="AsyncTask.html">AsyncTask</a><ul class='methods'><li data-type='method' style='display: none;'><a href="AsyncTask.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#close">close</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#open">open</a></li><li data-type='method' style='display: none;'><a href="AsyncTask.html#tick">tick</a></li></ul></li><li><a href="BaseComposite.html">BaseComposite</a><ul class='methods'><li data-type='method' style='display: none;'><a href="BaseComposite.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#close">close</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#open">open</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#run">run</a></li><li data-type='method' style='display: none;'><a href="BaseComposite.html#tick">tick</a></li></ul></li><li><a href="BaseDecorator.html">BaseDecorator</a><ul class='methods'><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#close">close</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#open">open</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#run">run</a></li><li data-type='method' style='display: none;'><a href="BaseDecorator.html#tick">tick</a></li></ul></li><li><a href="BaseNode.html">BaseNode</a><ul class='methods'><li data-type='method' style='display: none;'><a href="BaseNode.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#close">close</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#open">open</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#run">run</a></li><li data-type='method' style='display: none;'><a href="BaseNode.html#tick">tick</a></li></ul></li><li><a href="BehaviorTree.html">BehaviorTree</a><ul class='methods'><li data-type='method' style='display: none;'><a href="BehaviorTree.html#tick">tick</a></li></ul></li><li><a href="Board.html">Board</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Board.html#clear">clear</a></li><li data-type='method' style='display: none;'><a href="Board.html#get">get</a></li><li data-type='method' style='display: none;'><a href="Board.html#isEmpty">isEmpty</a></li><li data-type='method' style='display: none;'><a href="Board.html#set">set</a></li><li data-type='method' style='display: none;'><a href="Board.html#toJSON">toJSON</a></li><li data-type='method' style='display: none;'><a href="Board.html#unset">unset</a></li></ul></li><li><a href="Inverter.html">Inverter</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Inverter.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#close">close</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#open">open</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#run">run</a></li><li data-type='method' style='display: none;'><a href="Inverter.html#tick">tick</a></li></ul></li><li><a href="Logger.html">Logger</a></li><li></li><li><a href="module-BlackBoard-Blackboard.html">Blackboard</a><ul class='methods'><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#createTree">createTree</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#get">get</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#listTree">listTree</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#removeTree">removeTree</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#set">set</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#toJSON">toJSON</a></li><li data-type='method' style='display: none;'><a href="module-BlackBoard-Blackboard.html#tree">tree</a></li></ul></li><li></li><li><a href="module-Context-Context.html">Context</a><ul class='methods'><li data-type='method' style='display: none;'><a href="module-Context-Context.html#closeNode">closeNode</a></li><li data-type='method' style='display: none;'><a href="module-Context-Context.html#enterNode">enterNode</a></li><li data-type='method' style='display: none;'><a href="module-Context-Context.html#exitNode">exitNode</a></li><li data-type='method' style='display: none;'><a href="module-Context-Context.html#openNode">openNode</a></li><li data-type='method' style='display: none;'><a href="module-Context-Context.html#runNode">runNode</a></li></ul></li><li><a href="NodeBoard.html">NodeBoard</a></li><li><a href="Priority.html">Priority</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Priority.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="Priority.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="Priority.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="Priority.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="Priority.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="Priority.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="Priority.html#close">close</a></li><li data-type='method' style='display: none;'><a href="Priority.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="Priority.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="Priority.html#open">open</a></li><li data-type='method' style='display: none;'><a href="Priority.html#run">run</a></li><li data-type='method' style='display: none;'><a href="Priority.html#tick">tick</a></li></ul></li><li></li><li><a href="Registry.html">Registry</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Registry.html#getNode">getNode</a></li><li data-type='method' style='display: none;'><a href="Registry.html#getNodeTypes">getNodeTypes</a></li><li data-type='method' style='display: none;'><a href="Registry.html#merge">merge</a></li><li data-type='method' style='display: none;'><a href="Registry.html#register">register</a></li></ul></li><li></li><li><a href="Repeater.html">Repeater</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Repeater.html#open">open</a></li><li data-type='method' style='display: none;'><a href="Repeater.html#run">run</a></li></ul></li><li><a href="RewindWhenFailure.html">RewindWhenFailure</a><ul class='methods'><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#close">close</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#open">open</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#run">run</a></li><li data-type='method' style='display: none;'><a href="RewindWhenFailure.html#tick">tick</a></li></ul></li><li><a href="RewindWhenRunning.html">RewindWhenRunning</a><ul class='methods'><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#close">close</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#open">open</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#run">run</a></li><li data-type='method' style='display: none;'><a href="RewindWhenRunning.html#tick">tick</a></li></ul></li><li><a href="Sequence.html">Sequence</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Sequence.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#close">close</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#open">open</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#run">run</a></li><li data-type='method' style='display: none;'><a href="Sequence.html#tick">tick</a></li></ul></li><li><a href="Task.html">Task</a><ul class='methods'><li data-type='method' style='display: none;'><a href="Task.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="Task.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="Task.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="Task.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="Task.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="Task.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="Task.html#close">close</a></li><li data-type='method' style='display: none;'><a href="Task.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="Task.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="Task.html#open">open</a></li><li data-type='method' style='display: none;'><a href="Task.html#tick">tick</a></li></ul></li><li></li><li><a href="TreeBoard.html">TreeBoard</a><ul class='methods'><li data-type='method' style='display: none;'><a href="TreeBoard.html#clear">clear</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#createNode">createNode</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#gc">gc</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#get">get</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#isEmpty">isEmpty</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#listNode">listNode</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#node">node</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#removeNode">removeNode</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#set">set</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#toJSON">toJSON</a></li><li data-type='method' style='display: none;'><a href="TreeBoard.html#unset">unset</a></li></ul></li><li><a href="TreeBuilder.html">TreeBuilder</a></li><li></li><li><a href="UntilFailure.html">UntilFailure</a><ul class='methods'><li data-type='method' style='display: none;'><a href="UntilFailure.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#close">close</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#open">open</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#run">run</a></li><li data-type='method' style='display: none;'><a href="UntilFailure.html#tick">tick</a></li></ul></li><li><a href="UntilSuccess.html">UntilSuccess</a><ul class='methods'><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_close">_close</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_enter">_enter</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_exit">_exit</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_open">_open</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_run">_run</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#_tick">_tick</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#close">close</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#enter">enter</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#exit">exit</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#open">open</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#run">run</a></li><li data-type='method' style='display: none;'><a href="UntilSuccess.html#tick">tick</a></li></ul></li></ul><h3>Modules</h3><ul><li><a href="module-BlackBoard.html">BlackBoard</a></li><li><a href="module-Context.html">Context</a></li></ul><h3>Tutorials</h3><ul><li><a href="tutorial-blackboard.html">Blackboard</a></li></ul><h3>Global</h3><ul><li><a href="global.html#BehaviorTreeOptions">BehaviorTreeOptions</a></li><li><a href="global.html#Constant">Constant</a></li><li><a href="global.html#defaultBehaviorTreeOptions">defaultBehaviorTreeOptions</a></li><li><a href="global.html#LogFunction">LogFunction</a></li><li><a href="global.html#NodeCategory">NodeCategory</a></li><li><a href="global.html#NodeData">NodeData</a></li><li><a href="global.html#NodeDefinition">NodeDefinition</a></li><li><a href="global.html#NodeId">NodeId</a></li><li><a href="global.html#NodeStatus">NodeStatus</a></li><li><a href="global.html#NodeType">NodeType</a></li><li><a href="global.html#Registers">Registers</a></li><li><a href="global.html#severities">severities</a></li><li><a href="global.html#SYSLOG_LEVEL">SYSLOG_LEVEL</a></li><li><a href="global.html#TreeDefinition">TreeDefinition</a></li><li><a href="global.html#workerConfig">workerConfig</a></li></ul>
</nav>
<div id="main">
<h1 class="page-title">core/BaseNode.js</h1>
<section>
<article>
<pre class="prettyprint source linenums"><code>const uuid = require('uuid/v4');
const {RUNNING, ERROR} = require('../constants');
/**
* @typedef {string} NodeId
*/
/**
* @typedef {'TASK'|'COMPOSITE'|'CONDITION'|'DECORATOR'} NodeCategory
*/
/**
* @typedef {object} NodeData
* @property {string} id - uuid of class
* @property {string} type - type of node (e.g. class name)
* @property {string} name - name of node
* @property {NodeCategory} category - categories of nodes
* @property {string} description
*/
/**
* Class BaseNode
*/
class BaseNode {
/**
* @constructor
* @param {object} params
* @param {NodeCategory} params.category
* @param {string} params.type - The type of the node
* (usually the name of the class is used)
* @param {string} params.name - The name for human
* @param {string} params.description
* @param {object} params.properties
**/
constructor({category, type, name, description, properties} = {}) {
/**
* unique identifier of node. It uses the UUID format.
* @type {NodeId}
* @see RFC4122: https://tools.ietf.org/html/rfc4122
**/
this.id = uuid();
/**
* Node category. Must be `COMPOSITE`, `DECORATOR`, `TASK` or
* `CONDITION`. This is defined automatically be inheriting the
* correspondent class.
* @type {NodeCategory}
**/
this.category = category || 'TASK';
/**
* type of node. Must be a unique. e.g. class name
* @type {string}
**/
this.type = type || this.constructor.name;
/**
* Node name.
* @type {string}
**/
this.name = name || this.type;
/**
* Node description.
* @type {string}
*/
this.description = description || '';
/**
* A dictionary (key, value) describing the node properties. Useful for
* defining custom variables inside the visual editor.
*
* @type {Object}
* @readonly
**/
this.properties = properties || {};
}
/**
* @param {Context} context A run instance.
* @returns {NodeStatus} The run state.
*/
tick(context) {
return this._tick(context);
}
/**
* @param {Context} context A run instance.
* @returns {NodeStatus} The run state.
**/
_tick(context) {
// ENTER
this._enter(context);
// OPEN
if (!context.treeBoard.node(this, {safe: true}).isOpen()) {
this._open(context);
}
// RUN
const status = this._run(context);
context.treeBoard.node(this).set('lastStatus', status);
// CLOSE
if (status !== RUNNING) {
this._close(context);
}
// EXIT
this._exit(context);
return status;
}
/**
* Wrapper for enter method.
* @param {Context} context - A run instance.
* @protected
**/
_enter(context) {
context.enterNode(this);
this.enter(context);
}
/**
* Wrapper for open method.
* @param {Context} context - A run instance.
* @protected
**/
_open(context) {
context.openNode(this);
context.treeBoard.node(this).openNode();
this.open(context);
}
/**
* Wrapper for run method.
* @param {Context} context A run instance.
* @return {NodeStatus} A state constant.
* @protected
**/
_run(context) {
try {
context.runNode(this);
const result = this.run(context);
context.logger.DEBUG_debug(`run() result:\t${this.name}: ` + result);
return result;
} catch (e) {
context.logger.DEBUG_err(
`failed to execute run() on node [${this.type}] ${this.name}(${this.id})\n`
+ `${e.message}\n${e.stack}`);
return ERROR;
}
}
/**
* Wrapper for close method.
* @param {Context} context A run instance.
* @returns {void}
**/
_close(context) {
context.closeNode(this);
context.treeBoard.node(this.id).set('isOpen', false);
this.close(context);
}
/**
* Wrapper for exit method.
* @param {Context} context A run instance.
* @protected
**/
_exit(context) {
context.exitNode(this);
this.exit(context);
}
/**
* Enter method, override this to use. It is called every time a node is
* asked to run, before the run itself.
*
* @param {Context} context A run instance.
**/
enter(context) {
}
/**
* Open method, override this to use. It is called only before the run
* callback and only if the not isn't closed.
*
* Note: a node will be closed if it returned `RUNNING` in the run.
*
* @param {Context} context A run instance.
**/
open(context) {
}
/**
* Context method, override this to use. This method must contain the real
* execution of node (perform a task, call children, etc.). It is called
* every time a node is asked to run.
*
* @param {Context} context A run instance.
**/
run(context) {
}
/**
* Close method, override this to use. This method is called after the run
* callback, and only if the run return a state different from
* `RUNNING`.
*
* @param {Context} context A run instance.
**/
close(context) {
}
/**
* Exit method, override this to use. Called every time in the end of the
* execution.
*
* @param {Context} context A run instance.
**/
exit(context) {
}
}
module.exports = BaseNode;
</code></pre>
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