mirror of
https://gitee.com/dlmu-cone/Arborflow
synced 2026-10-23 09:42:19 +08:00
55 lines
2.6 KiB
TypeScript
55 lines
2.6 KiB
TypeScript
import type { BehaviorTreeDocument } from '../types'
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export function createDemoDocument(): BehaviorTreeDocument {
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return {
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format: 'arborflow/project',
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version: 1,
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title: 'Navigation Mission',
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mainTreeId: 'MainTree',
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nodes: [
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{
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id: 'root_sequence', type: 'behavior', position: { x: 475, y: 60 },
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data: { label: 'Mission Sequence', nodeType: 'Sequence', category: 'control', registrationName: 'Sequence', ports: {}, notes: '主任务流程', breakpoint: false },
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},
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{
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id: 'battery_check', type: 'behavior', position: { x: 170, y: 240 },
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data: { label: 'Battery OK?', nodeType: 'Condition', category: 'condition', registrationName: 'BatteryOK', ports: { min_level: '{battery_threshold}' }, notes: '', breakpoint: false },
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},
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{
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id: 'navigation_fallback', type: 'behavior', position: { x: 475, y: 240 },
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data: { label: 'Navigate Safely', nodeType: 'Fallback', category: 'control', registrationName: 'Fallback', ports: {}, notes: '', breakpoint: false },
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},
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{
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id: 'report_action', type: 'behavior', position: { x: 785, y: 240 },
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data: { label: 'Report Result', nodeType: 'Action', category: 'action', registrationName: 'ReportResult', ports: { topic: '/mission/result' }, notes: '', breakpoint: false },
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},
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{
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id: 'at_goal', type: 'behavior', position: { x: 340, y: 430 },
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data: { label: 'Already At Goal?', nodeType: 'Condition', category: 'condition', registrationName: 'AtGoal', ports: { target: '{goal}' }, notes: '', breakpoint: false },
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},
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{
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id: 'navigate_action', type: 'behavior', position: { x: 610, y: 430 },
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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 },
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},
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],
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edges: [
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{ id: 'e-root-battery', source: 'root_sequence', target: 'battery_check', type: 'smoothstep' },
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{ id: 'e-root-nav', source: 'root_sequence', target: 'navigation_fallback', type: 'smoothstep' },
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{ id: 'e-root-report', source: 'root_sequence', target: 'report_action', type: 'smoothstep' },
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{ id: 'e-nav-goal', source: 'navigation_fallback', target: 'at_goal', type: 'smoothstep' },
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{ id: 'e-nav-action', source: 'navigation_fallback', target: 'navigate_action', type: 'smoothstep' },
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],
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}
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}
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export function createEmptyDocument(): BehaviorTreeDocument {
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return {
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format: 'arborflow/project',
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version: 1,
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title: 'Untitled Tree',
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mainTreeId: 'MainTree',
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nodes: [],
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edges: [],
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}
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}
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