mirror of
https://gitee.com/dlmu-cone/Arborflow
synced 2026-10-23 17:52:20 +08:00
94 lines
4.1 KiB
TypeScript
94 lines
4.1 KiB
TypeScript
import {
|
|
GitBranch,
|
|
ListTree,
|
|
Repeat2,
|
|
RotateCcw,
|
|
ShieldCheck,
|
|
ShieldX,
|
|
Split,
|
|
SquareFunction,
|
|
TreePine,
|
|
Zap,
|
|
type LucideIcon,
|
|
} from 'lucide-react'
|
|
import type { BehaviorNode, CustomNodeModel, 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 createNodeFromModel(model: CustomNodeModel, position = { x: 80, y: 80 }): BehaviorNode {
|
|
const node = createNode(model.nodeType, position)
|
|
node.data = {
|
|
...node.data,
|
|
label: model.id,
|
|
category: model.category,
|
|
registrationName: model.id,
|
|
xmlTag: model.id,
|
|
ports: Object.fromEntries(model.ports.map((port) => [port.name, port.defaultValue || ''])),
|
|
}
|
|
return node
|
|
}
|
|
|
|
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
|
|
}
|