TuxMonkey/Arborflow
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/Arborflow synced 2026-10-24 02:02:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: launch ArborFlow behavior tree studio

Browse Source
This commit is contained in:
TuxMonkey
2026-07-21 20:09:00 +08:00
commit cb6ca3d24b
32 changed files with 9869 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
src/lib/demo.ts Normal file
View File

@@ -0,0 +1,54 @@
import type { BehaviorTreeDocument } from '../types'
export function createDemoDocument(): BehaviorTreeDocument {
return {
format: 'arborflow/project',
version: 1,
title: 'Navigation Mission',
mainTreeId: 'MainTree',
nodes: [
{
id: 'root_sequence', type: 'behavior', position: { x: 475, y: 60 },
data: { label: 'Mission Sequence', nodeType: 'Sequence', category: 'control', registrationName: 'Sequence', ports: {}, notes: '主任务流程', breakpoint: false },
},
{
id: 'battery_check', type: 'behavior', position: { x: 170, y: 240 },
data: { label: 'Battery OK?', nodeType: 'Condition', category: 'condition', registrationName: 'BatteryOK', ports: { min_level: '{battery_threshold}' }, notes: '', breakpoint: false },
},
{
id: 'navigation_fallback', type: 'behavior', position: { x: 475, y: 240 },
data: { label: 'Navigate Safely', nodeType: 'Fallback', category: 'control', registrationName: 'Fallback', ports: {}, notes: '', breakpoint: false },
},
{
id: 'report_action', type: 'behavior', position: { x: 785, y: 240 },
data: { label: 'Report Result', nodeType: 'Action', category: 'action', registrationName: 'ReportResult', ports: { topic: '/mission/result' }, notes: '', breakpoint: false },
},
{
id: 'at_goal', type: 'behavior', position: { x: 340, y: 430 },
data: { label: 'Already At Goal?', nodeType: 'Condition', category: 'condition', registrationName: 'AtGoal', ports: { target: '{goal}' }, notes: '', breakpoint: false },
},
{
id: 'navigate_action', type: 'behavior', position: { x: 610, y: 430 },
data: { label: 'Navigate To Pose', nodeType: 'Action', category: 'action', registrationName: 'NavigateToPose', ports: { goal: '{goal}', server_timeout: '5000' }, notes: '调用 Nav2 action server', breakpoint: true },
},
],
edges: [
{ id: 'e-root-battery', source: 'root_sequence', target: 'battery_check', type: 'smoothstep' },
{ id: 'e-root-nav', source: 'root_sequence', target: 'navigation_fallback', type: 'smoothstep' },
{ id: 'e-root-report', source: 'root_sequence', target: 'report_action', type: 'smoothstep' },
{ id: 'e-nav-goal', source: 'navigation_fallback', target: 'at_goal', type: 'smoothstep' },
{ id: 'e-nav-action', source: 'navigation_fallback', target: 'navigate_action', type: 'smoothstep' },
],
}
}
export function createEmptyDocument(): BehaviorTreeDocument {
return {
format: 'arborflow/project',
version: 1,
title: 'Untitled Tree',
mainTreeId: 'MainTree',
nodes: [],
edges: [],
}
}