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brain.go
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brain.go
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package behavior
import (
"context"
"fmt"
"reflect"
"time"
"github.com/samber/lo"
"github.com/alkaid/behavior/timer"
"github.com/alkaid/timingwheel"
"github.com/pkg/errors"
"github.com/alkaid/behavior/thread"
"go.uber.org/zap"
"go.uber.org/zap/zapcore"
"github.com/alkaid/behavior/handle"
handle2 "github.com/alkaid/behavior/handle"
"github.com/alkaid/behavior/bcore"
"github.com/alkaid/behavior/logger"
)
var _ bcore.IBrain = (*Brain)(nil)
// ExecutorFun 委托方法签名例
type ExecutorFun = func(eventType bcore.EventType, delta time.Duration) bcore.Result
type Brain struct {
blackboard bcore.IBlackboardInternal
delegatesMeta map[string]*bcore.DelegateMeta
finishChan chan *bcore.FinishEvent // 供上层业务方使用的完成通知
root bcore.IRoot
ctx context.Context
}
func (b *Brain) ID() int {
return b.blackboard.ThreadID()
}
func (b *Brain) SetFinishChan(finishChan chan *bcore.FinishEvent) {
b.finishChan = finishChan
}
func (b *Brain) RWFinishChan() chan *bcore.FinishEvent {
return b.finishChan
}
func (b *Brain) FinishChan() <-chan *bcore.FinishEvent {
return b.finishChan
}
func (b *Brain) RunningTree() bcore.IRoot {
return b.root
}
func (b *Brain) Running() bool {
return b.root != nil
}
func (b *Brain) SetRunningTree(root bcore.IRoot) {
b.root = root
}
func (b *Brain) Context() context.Context {
return b.ctx
}
func (b *Brain) SetContext(ctx context.Context) {
b.ctx = ctx
}
// NewBrain bcore.IBrain 实例
//
// @param blackboard
// @param delegates 要注册的委托对象
// @return bcore.IBrain
func NewBrain(blackboard bcore.IBlackboard, delegates map[string]any, finishChan chan *bcore.FinishEvent) bcore.IBrain {
b := &Brain{
blackboard: blackboard.(bcore.IBlackboardInternal),
delegatesMeta: map[string]*bcore.DelegateMeta{},
}
b.SetDelegates(delegates)
b.finishChan = finishChan
b.ctx = context.Background()
return b
}
func (b *Brain) Blackboard() bcore.IBlackboard {
return b.blackboard
}
// RegisterDelegate 注册委托对象
//
// @receiver b
// @param name
// @param delegate
func (b *Brain) RegisterDelegate(name string, delegate any) {
if delegate == nil {
logger.Log.Fatal("delegate can't be nil")
}
b.delegatesMeta[name] = &bcore.DelegateMeta{
Delegate: delegate,
ReflectValue: reflect.ValueOf(delegate),
}
}
// SetDelegates 注册委托对象
//
// @receiver b
// @param delegatesMeta
func (b *Brain) SetDelegates(delegates map[string]any) {
for name, d := range delegates {
b.RegisterDelegate(name, d)
}
}
// GetDelegates 获取委托map拷贝
//
// @receiver b
// @return map[string]any
func (b *Brain) GetDelegates() map[string]any {
delegates := map[string]any{}
for name, meta := range b.delegatesMeta {
delegates[name] = meta.Delegate
}
return delegates
}
func (b *Brain) GetDelegate(name string) (delegate any, ok bool) {
meta, ok := b.delegatesMeta[name]
if ok {
return meta.Delegate, ok
}
return nil, false
}
func (b *Brain) Go(task func()) {
thread.GoByID(b.blackboard.ThreadID(), task)
}
// Abort @implement bcore.IBrain .Abort
//
// @receiver b
// @param abortChan
func (b *Brain) Abort(abortChan chan *bcore.FinishEvent) {
// 派发到自己的线程
b.Go(func() {
event := &bcore.FinishEvent{
ID: b.ID(),
IsAbort: true,
Succeeded: false,
IsActive: true,
}
if !b.Running() || !b.RunningTree().IsActive(b) {
logger.Log.Warn("brain not running,can not abort")
if abortChan != nil {
event.IsActive = false
abortChan <- event
}
return
}
b.RunningTree().SetUpstream(b, nil)
b.RunningTree().Abort(b)
if abortChan != nil {
abortChan <- event
}
})
}
func (b *Brain) Run(tag string, force bool) {
b.Go(func() {
if b.Running() && b.RunningTree().IsActive(b) {
if force {
b.RunningTree().SetUpstream(b, nil)
b.RunningTree().Abort(b)
} else {
return
}
} else {
tree := GlobalTreeRegistry().GetNotParentTreeWithoutClone(tag)
if tree == nil || tree.Root == nil {
logger.Log.Warn("can not find main tree for tag", zap.String("tag", tag))
}
tree.Root.Start(b)
}
})
}
// DynamicDecorate 给正在运行的树动态挂载子树.暂时只支持主树上的动态容器
//
// 非线程安全,调用方自己保证
//
// @receiver b
// @param containerTag 动态子树容器的tag
// @param subtreeTag 子树的tag
// @return error
func (b *Brain) DynamicDecorate(containerTag string, subtreeTag string) error {
if !b.Running() || !b.RunningTree().IsActive(b) {
return errors.New(fmt.Sprintf("brain can not dynamic decorate cause not running tree,containerTag=%s,subtreeTag=%s", containerTag, subtreeTag))
}
registry := GlobalTreeRegistry()
maintree := registry.TreesByID[b.RunningTree().ID()]
if maintree == nil {
return errors.New(fmt.Sprintf("brain can not dynamic decorate cause not main tree,containerTag=%s,subtreeTag=%s", containerTag, subtreeTag))
}
container := maintree.DynamicSubtrees[containerTag]
if container == nil {
return errors.New(fmt.Sprintf("brain can not dynamic decorate cause not dynamic container,containerTag=%s,subtreeTag=%s", containerTag, subtreeTag))
}
// 当前子树就是想要挂载的子树,不再执行动态替换
childRoot := container.Decorated(b)
if childRoot != nil && registry.TreesByID[childRoot.ID()].Tag == subtreeTag {
return nil
}
subtree, _, err := registry.getNotDynamicParentTree(subtreeTag, container, b)
if err != nil {
return err
}
if subtree == nil {
return errors.New(fmt.Sprintf("brain can not dynamic decorate cause not enough subtree,containerTag=%s,subtreeTag=%s", containerTag, subtreeTag))
}
container.DynamicDecorate(b, subtree.Root)
return nil
}
// OnNodeUpdate 供节点回调执行委托 会在 Brain 的独立线程里运行
//
// @receiver b
// @param target
// @param method
// @param brain
// @param eventType
// @param delta
// @return bcore.Result
func (b *Brain) OnNodeUpdate(target string, method string, brain bcore.IBrain, eventType bcore.EventType, delta time.Duration) bcore.Result {
log := logger.Log.With(zap.String("target", target), zap.String("method", method), zap.Int("eventType", int(eventType)))
meta := b.delegatesMeta[target]
if meta == nil {
log.Error("target is nil,please register delegate before run behavior tree")
return bcore.ResultFailed
}
handler := GlobalHandlerPool().GetHandle(target, method)
if handler == nil || handler.MethodType == handle2.MtNone {
log.Error("handler is nil,please register target to GlobalHandlerPool() before run behavior tree")
return bcore.ResultFailed
}
var rets []any
var err error
log = log.With(zap.Int("methodType", int(handler.MethodType)))
switch handler.MethodType {
case handle.MtFullStyle:
_, rets, err = GlobalHandlerPool().ProcessHandler(handler, meta.ReflectValue, eventType, delta)
default:
_, rets, err = GlobalHandlerPool().ProcessHandler(handler, meta.ReflectValue)
}
// 出错默认返回失败
if err != nil {
log.Error("handler reflect method call error", zap.Error(err))
return bcore.ResultFailed
}
// 出参只能0个或1个
switch len(rets) {
case 0:
return bcore.ResultSucceeded
case 1:
// 1个时判断是error还是result
if rets[0] == nil {
return bcore.ResultSucceeded
}
if result, ok := rets[0].(bool); ok {
return lo.If(result, bcore.ResultSucceeded).Else(bcore.ResultFailed)
}
if err, ok := rets[0].(error); ok {
// 不打印堆栈,堆栈由上层业务方打印
log.WithOptions(zap.AddStacktrace(zapcore.FatalLevel)).Error("delegator method return error", zap.Error(err))
return bcore.ResultFailed
}
if result, ok := rets[0].(bcore.Result); ok {
return result
}
// 出参类型超限
log.Error("delegator method return type illegal")
return bcore.ResultFailed
}
// 出参数量超限
log.Error("delegator method return value's number illegal")
return bcore.ResultFailed
}
// Cron wrap timingwheel.TimingWheel .Cron
//
// @param interval 间隔
// @param randomDeviation 随机离差范围,interval=interval+randomDeviation*[-0.5,0.5)
// @param task
// @param opts
func (b *Brain) Cron(interval time.Duration, randomDeviation time.Duration, task func()) *timingwheel.Timer {
return timer.Cron(interval, randomDeviation, task, timingwheel.WithGoID(b.blackboard.ThreadID()), timingwheel.WithPool(thread.PoolInstance()))
}
// After wrap timingwheel.TimingWheel .AfterFunc
//
// @param interval 间隔
// @param randomDeviation 随机离差范围 interval = interval + randomDeviation*[-0.5,0.5)
// @param task
// @param opts
func (b *Brain) After(interval time.Duration, randomDeviation time.Duration, task func()) *timingwheel.Timer {
return timer.After(interval, randomDeviation, task, timingwheel.WithGoID(b.blackboard.ThreadID()), timingwheel.WithPool(thread.PoolInstance()))
}