119 lines
3.0 KiB
C++
119 lines
3.0 KiB
C++
#pragma once
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#include "componentbasic.h"
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#include <messagebasic.h>
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/// <summary>
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/// 行为树实例化节点
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/// </summary>
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class COMPONENTBASIC_EXPORT MapHost : public Serializable {
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private:
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/// <summary>
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/// {Topic，init-value}
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/// </summary>
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QHash<QString, std::shared_ptr<TopicData>> _variable_types;
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/// <summary>
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/// 变量表
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/// </summary>
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QHash<QString, std::shared_ptr<TopicData>> _variable_map;
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public:
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virtual ~MapHost() = default;
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/// <summary>
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/// 注册数据类型
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/// </summary>
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/// <param name="init"></param>
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virtual void registData(std::shared_ptr<TopicData> init) = 0;
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/// <summary>
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/// 设置变量，如果类型错误会抛出UniException异常
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/// 节点初始化时会按照配置注册默认值变量
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/// </summary>
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virtual void setVariable(const QString& key, std::shared_ptr<TopicData> ins);
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/// <summary>
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/// 获取指定名称的数据变量
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/// </summary>
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/// <param name="key"></param>
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/// <returns>如果不存在指定名称数据，返回nullptr，类型不确定</returns>
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virtual std::shared_ptr<TopicData> getVariable(const QString& key) const;
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};
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/// <summary>
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/// 所有逻辑节点的基类
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/// </summary>
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class LogicalNode : public Serializable {
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public:
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virtual ~LogicalNode() = default;
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/// <summary>
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/// 设置节点id
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/// </summary>
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/// <param name="unique_id"></param>
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virtual void setID(int unique_id) = 0;
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/// <summary>
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/// 提取节点id
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/// </summary>
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/// <returns></returns>
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virtual int getID() const = 0;
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/// <summary>
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/// 获取节点名称
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/// </summary>
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/// <returns></returns>
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virtual QString name() const = 0;
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/// <summary>
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/// 获取子节点列表
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/// </summary>
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/// <returns></returns>
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virtual QList<std::shared_ptr<LogicalNode>> children() const = 0;
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/// <summary>
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/// 声明输入变量的内部标识和数据接口
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/// </summary>
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/// <returns>map{name, type}</returns>
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virtual QHash<QString, std::shared_ptr<TopicData>> inputDeclares() const = 0;
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/// <summary>
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/// 声明输出变量的内部标识和数据接口
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/// </summary>
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/// <returns>map{name, type}</returns>
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virtual QHash<QString, std::shared_ptr<TopicData>> outputDeclares() const = 0;
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};
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/// <summary>
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/// 自定义行为树节点实例
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/// </summary>
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class COMPONENTBASIC_EXPORT BehaviorMapNode : public MapHost, public LogicalNode {
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public:
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/// <summary>
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/// 重置行为树数据文件
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/// </summary>
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/// <param name="path"></param>
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virtual void setBehaviorMap(const QString &path){}
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/// <summary>
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/// 设置行为树节点名称
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/// </summary>
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/// <param name="val"></param>
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virtual void resetName(const QString &val){}
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};
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/// <summary>
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/// 行为树组件
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/// </summary>
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class COMPONENTBASIC_EXPORT BehaviorPerformPlugin : public ProcList<
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WsRespond<SyncRequest, RespondDefault>
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>{
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private:
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std::weak_ptr<WsEntity> _bind_entity;
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public:
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// 通过 ProcList 继承
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void execute(std::shared_ptr<Immediate> map, std::shared_ptr<const SyncRequest> in, QList<std::shared_ptr<RespondDefault>>& out) override;
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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std::shared_ptr<WsComponent> defaultNew() const override;
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void bindEntity(std::weak_ptr<WsEntity> host) override;
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QString name() const override;
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};
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