feat: launch ArborFlow behavior tree studio

2026-10-24 02:02:19 +08:00 · 2026-07-21 20:09:00 +08:00
commit cb6ca3d24b
32 changed files with 9869 additions and 0 deletions
--- a/src/lib/catalog.ts
+++ b/src/lib/catalog.ts
@@ -0,0 +1,80 @@
+import {
+  GitBranch,
+  ListTree,
+  Repeat2,
+  RotateCcw,
+  ShieldCheck,
+  ShieldX,
+  Split,
+  SquareFunction,
+  TreePine,
+  Zap,
+  type LucideIcon,
+} from 'lucide-react'
+import type { BehaviorNode, NodeCategory, NodeType } from '../types'
+
+export interface NodeDefinition {
+  type: NodeType
+  label: string
+  description: string
+  category: NodeCategory
+  icon: LucideIcon
+  defaultPorts?: Record<string, string>
+}
+
+export const CATEGORY_LABELS: Record<NodeCategory, string> = {
+  control: '控制',
+  decorator: '装饰',
+  action: '动作',
+  condition: '条件',
+  subtree: '子树',
+}
+
+export const NODE_DEFINITIONS: NodeDefinition[] = [
+  { type: 'Sequence', label: 'Sequence', description: '依次执行，遇失败停止', category: 'control', icon: ListTree },
+  { type: 'Fallback', label: 'Fallback', description: '依次尝试，遇成功停止', category: 'control', icon: GitBranch },
+  { type: 'Parallel', label: 'Parallel', description: '并行执行多个子节点', category: 'control', icon: Split, defaultPorts: { success_count: '1', failure_count: '1' } },
+  { type: 'ReactiveSequence', label: 'Reactive Sequence', description: '每次 tick 从首节点重评估', category: 'control', icon: RotateCcw },
+  { type: 'ReactiveFallback', label: 'Reactive Fallback', description: '响应式回退控制', category: 'control', icon: RotateCcw },
+  { type: 'Inverter', label: 'Inverter', description: '反转成功与失败结果', category: 'decorator', icon: Repeat2 },
+  { type: 'RetryUntilSuccessful', label: 'Retry', description: '失败后重试指定次数', category: 'decorator', icon: Repeat2, defaultPorts: { num_attempts: '3' } },
+  { type: 'Repeat', label: 'Repeat', description: '重复执行指定次数', category: 'decorator', icon: Repeat2, defaultPorts: { num_cycles: '3' } },
+  { type: 'ForceSuccess', label: 'Force Success', description: '强制返回成功', category: 'decorator', icon: ShieldCheck },
+  { type: 'ForceFailure', label: 'Force Failure', description: '强制返回失败', category: 'decorator', icon: ShieldX },
+  { type: 'Action', label: 'Action', description: '调用 ROS 动作或业务逻辑', category: 'action', icon: Zap },
+  { type: 'Condition', label: 'Condition', description: '检查黑板或环境条件', category: 'condition', icon: SquareFunction },
+  { type: 'SubTree', label: 'SubTree', description: '调用另一棵行为树', category: 'subtree', icon: TreePine },
+  { type: 'AlwaysSuccess', label: 'Always Success', description: '始终返回成功', category: 'action', icon: ShieldCheck },
+  { type: 'AlwaysFailure', label: 'Always Failure', description: '始终返回失败', category: 'action', icon: ShieldX },
+]
+
+export const NODE_DEFINITION_MAP = new Map(NODE_DEFINITIONS.map((definition) => [definition.type, definition]))
+
+export function createNode(type: NodeType, position = { x: 80, y: 80 }): BehaviorNode {
+  const definition = NODE_DEFINITION_MAP.get(type)!
+  const id = `node_${crypto.randomUUID().replaceAll('-', '').slice(0, 10)}`
+  const customName = type === 'Action' ? 'MyAction' : type === 'Condition' ? 'MyCondition' : type === 'SubTree' ? 'SubTreeID' : type
+  return {
+    id,
+    type: 'behavior',
+    position,
+    data: {
+      label: customName,
+      nodeType: type,
+      category: definition.category,
+      registrationName: customName,
+      ports: { ...(definition.defaultPorts || {}) },
+      notes: '',
+      breakpoint: false,
+    },
+  }
+}
+
+export function canHaveChildren(type: NodeType) {
+  return !['Action', 'Condition', 'SubTree', 'AlwaysSuccess', 'AlwaysFailure'].includes(type)
+}
+
+export function maxChildren(type: NodeType) {
+  if (['Inverter', 'RetryUntilSuccessful', 'Repeat', 'ForceSuccess', 'ForceFailure'].includes(type)) return 1
+  return canHaveChildren(type) ? Number.POSITIVE_INFINITY : 0
+}