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try use view
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@hit9
hit9 committed Apr 28, 2024
1 parent bda9aae commit bf2a0e5
Showing 1 changed file with 53 additions and 29 deletions.
82 changes: 53 additions & 29 deletions bt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -305,11 +305,16 @@ class Node {
if (b->lastSeq == seq) s += "\033[0m";
}

// Internal onBuild method.
// Separating from the api hook OnBuild, so there's no need to call parent
// class's OnBuild for custom OnBuild overridings.
virtual void internalOnBuild() {}

// firend with SingleNode and CompositeNode for accessbility to makeVisualizeString.
friend class SingleNode;
friend class CompositeNode;

// friend with _InternalBuilderBase to access member root, size and id;
// friend with _InternalBuilderBase to access member root, size and id etc.
friend class _InternalBuilderBase;

public:
Expand Down Expand Up @@ -380,6 +385,7 @@ class Node {
virtual void OnTerminate(const Context& ctx, Status status){};

// Hook function to be called on this node's build is finished.
// Nice to call parent class' OnBuild after your implementation
virtual void OnBuild() {}

// Main update function to be implemented by all subclasses.
Expand Down Expand Up @@ -489,14 +495,16 @@ concept TInternalNode = std::is_base_of_v<InternalNode, T>;
class SingleNode : public InternalNode {
protected:
Ptr<Node> child;
Node* child_view = nullptr;

void makeVisualizeString(std::string& s, int depth, ull seq) override {
Node::makeVisualizeString(s, depth, seq);
if (child != nullptr) {
if (child_view != nullptr) {
s.push_back('\n');
child->makeVisualizeString(s, depth + 1, seq);
child_view->makeVisualizeString(s, depth + 1, seq);
}
}
void internalOnBuild() override { child_view = child.get(); }

public:
SingleNode(std::string_view name = "SingleNode", Ptr<Node> child = nullptr)
Expand All @@ -508,7 +516,7 @@ class SingleNode : public InternalNode {
}
std::string_view Validate() const override { return child == nullptr ? "no child node provided" : ""; }
void Append(Ptr<Node> node) override { child = std::move(node); }
unsigned int Priority(const Context& ctx) const override { return child->Priority(ctx); }
unsigned int Priority(const Context& ctx) const override { return child_view->Priority(ctx); }
};

////////////////////////////////////////////////
Expand All @@ -519,6 +527,7 @@ class SingleNode : public InternalNode {
class CompositeNode : public InternalNode {
protected:
PtrList<Node> children;
std::vector<Node*> children_view;

// Should we consider partial children (not all) every tick?
virtual bool isParatialConsidered() const { return false; }
Expand All @@ -538,6 +547,9 @@ class CompositeNode : public InternalNode {
}
}
}
void internalOnBuild() override {
for (auto& child : children) children_view.push_back(child.get());
}

public:
CompositeNode(std::string_view name = "CompositeNode", PtrList<Node>&& cs = {}) : InternalNode(name) {
Expand All @@ -554,10 +566,10 @@ class CompositeNode : public InternalNode {
std::string_view Validate() const override { return children.empty() ? "children empty" : ""; }

// Returns the max priority of considerable children.
unsigned int Priority(const Context& ctx) const override {
unsigned int Priority(const Context& ctx) const final override {
unsigned int ans = 0;
for (int i = 0; i < children.size(); i++)
if (considerable(i)) ans = std::max(ans, children[i]->Priority(ctx));
for (int i = 0; i < children_view.size(); i++)
if (considerable(i)) ans = std::max(ans, children_view[i]->Priority(ctx));
return ans;
}
};
Expand Down Expand Up @@ -697,9 +709,9 @@ class _InternalPriorityCompositeNode : virtual public CompositeNode {
// v is the first valid priority value.
unsigned int v = 0;

for (int i = 0; i < children.size(); i++) {
for (int i = 0; i < children_view.size(); i++) {
if (!considerable(i)) continue;
p[i] = children[i]->Priority(ctx);
p[i] = children_view[i]->Priority(ctx);
if (!v) v = p[i];
if (v != p[i]) areAllEqual = false;
}
Expand All @@ -721,18 +733,16 @@ class _InternalPriorityCompositeNode : virtual public CompositeNode {

// Clear and enqueue.
q.clear();
for (int i = 0; i < children.size(); i++)
for (int i = 0; i < children_view.size(); i++)
if (considerable(i)) q.push(i);
}

// update is an internal method to propagates tick() to children in the q1/q2.
// it will be called by Update.
virtual Status update(const Context& ctx) = 0;

public:
_InternalPriorityCompositeNode() {}

void OnBuild() override {
void internalOnBuild() override {
CompositeNode::internalOnBuild();
// pre-allocate capacity for p.
p.resize(children.size());
// initialize simpleQ1Container;
Expand All @@ -744,6 +754,9 @@ class _InternalPriorityCompositeNode : virtual public CompositeNode {
q = _MixedQueueHelper(cmp, children.size());
}

public:
_InternalPriorityCompositeNode() {}

Status Update(const Context& ctx) override {
refresh(ctx);
enqueue();
Expand All @@ -762,7 +775,7 @@ class _InternalSequenceNodeBase : virtual public _InternalPriorityCompositeNode
// propagates ticks, one by one sequentially.
while (!q.empty()) {
auto i = q.pop();
auto status = children[i]->Tick(ctx);
auto status = children_view[i]->Tick(ctx);
if (status == Status::RUNNING) return Status::RUNNING;
// F if any child F.
if (status == Status::FAILURE) {
Expand Down Expand Up @@ -805,7 +818,7 @@ class _InternalSelectorNodeBase : virtual public _InternalPriorityCompositeNode
// select a success children.
while (!q.empty()) {
auto i = q.pop();
auto status = children[i]->Tick(ctx);
auto status = children_view[i]->Tick(ctx);
if (status == Status::RUNNING) return Status::RUNNING;
// S if any child S.
if (status == Status::SUCCESS) {
Expand Down Expand Up @@ -850,7 +863,7 @@ class _InternalRandomSelectorNodeBase : virtual public _InternalPriorityComposit
Status update(const Context& ctx) override {
// Sum of weights/priorities.
unsigned int total = 0;
for (int i = 0; i < children.size(); i++)
for (int i = 0; i < children_view.size(); i++)
if (considerable(i)) total += p[i];

// random select one, in range [1, total]
Expand All @@ -859,7 +872,7 @@ class _InternalRandomSelectorNodeBase : virtual public _InternalPriorityComposit
auto select = [&]() -> int {
unsigned int v = distribution(rng); // gen random unsigned int between [0, sum]
unsigned int s = 0; // sum of iterated children.
for (int i = 0; i < children.size(); i++) {
for (int i = 0; i < children_view.size(); i++) {
if (!considerable(i)) continue;
s += p[i];
if (v <= s) return i;
Expand All @@ -872,7 +885,7 @@ class _InternalRandomSelectorNodeBase : virtual public _InternalPriorityComposit
// notes that Priority() always returns a positive value.
while (total) {
int i = select();
auto status = children[i]->Tick(ctx);
auto status = children_view[i]->Tick(ctx);
if (status == Status::RUNNING) return Status::RUNNING;
// S if any child S.
if (status == Status::SUCCESS) {
Expand Down Expand Up @@ -926,7 +939,7 @@ class _InternalParallelNodeBase : virtual public _InternalPriorityCompositeNode
int cntFailure = 0, cntSuccess = 0, total = 0;
while (!q.empty()) {
auto i = q.pop();
auto status = children[i]->Tick(ctx);
auto status = children_view[i]->Tick(ctx);
total++;
if (status == Status::FAILURE) {
cntFailure++;
Expand Down Expand Up @@ -987,7 +1000,7 @@ class InvertNode : public DecoratorNode {
: DecoratorNode(name, std::move(child)) {}

Status Update(const Context& ctx) override {
auto status = child->Tick(ctx);
auto status = child_view->Tick(ctx);
switch (status) {
case Status::RUNNING:
return Status::RUNNING;
Expand All @@ -1004,6 +1017,13 @@ class ConditionalRunNode : public DecoratorNode {
private:
// Condition node to check.
Ptr<Node> condition;
Node* condition_view;

protected:
void internalOnBuild() override {
DecoratorNode::internalOnBuild();
condition_view = condition.get();
}

public:
ConditionalRunNode(Ptr<ConditionNode> condition = nullptr, std::string_view name = "ConditionalRun",
Expand All @@ -1018,7 +1038,7 @@ class ConditionalRunNode : public DecoratorNode {
post(*this, ptr);
}
Status Update(const Context& ctx) override {
if (condition->Tick(ctx) == Status::SUCCESS) return child->Tick(ctx);
if (condition_view->Tick(ctx) == Status::SUCCESS) return child_view->Tick(ctx);
return Status::FAILURE;
}
};
Expand Down Expand Up @@ -1048,7 +1068,7 @@ class RepeatNode : public DecoratorNode {

Status Update(const Context& ctx) override {
if (n == 0) return Status::SUCCESS;
auto status = child->Tick(ctx);
auto status = child_view->Tick(ctx);
if (status == Status::RUNNING) return Status::RUNNING;
if (status == Status::FAILURE) return Status::FAILURE;
// Count success until n times, -1 will never stop.
Expand Down Expand Up @@ -1085,7 +1105,7 @@ class TimeoutNode : public DecoratorNode {
// Check if timeout at first.
auto now = Clock::now();
if (now > getNodeBlob<Blob>()->startAt + duration) return Status::FAILURE;
return child->Tick(ctx);
return child_view->Tick(ctx);
}
};

Expand Down Expand Up @@ -1116,7 +1136,7 @@ class DelayNode : public DecoratorNode {
Status Update(const Context& ctx) override {
auto now = Clock::now();
if (now < getNodeBlob<Blob>()->firstRunAt + duration) return Status::RUNNING;
return child->Tick(ctx);
return child_view->Tick(ctx);
}
};

Expand Down Expand Up @@ -1165,7 +1185,7 @@ class RetryNode : public DecoratorNode {
if (b->cnt > 0 && now < b->lastRetryAt + interval) return Status::RUNNING;

// Time to run/retry.
auto status = child->Tick(ctx);
auto status = child_view->Tick(ctx);
switch (status) {
case Status::RUNNING:
[[fallthrough]];
Expand Down Expand Up @@ -1201,7 +1221,7 @@ class RootNode : public SingleNode, public IRootNode {

public:
RootNode(std::string_view name = "Root") : SingleNode(name) {}
Status Update(const Context& ctx) override { return child->Tick(ctx); }
Status Update(const Context& ctx) override { return child_view->Tick(ctx); }

//////////////////////////
/// Blob Apis
Expand Down Expand Up @@ -1332,6 +1352,10 @@ class _InternalBuilderBase {
subtree.Traverse(pre, NullTraversalCallback, NullNodePtr);
maintainSizeInfoOnSubtreeAttach(subtree, root);
}
void onNodeBuild(Node* node) {
node->internalOnBuild();
node->OnBuild();
}
};

// Builder helps to build a tree.
Expand Down Expand Up @@ -1369,7 +1393,7 @@ class Builder : public _InternalBuilderBase {
// pops an internal node from the stack.
void pop() {
validate(stack.top()); // validate before pop
stack.top()->OnBuild();
onNodeBuild(stack.top());
stack.pop();
}

Expand All @@ -1391,7 +1415,7 @@ class Builder : public _InternalBuilderBase {
auto& attachLeafNode(Ptr<LeafNode> p) {
adjust();
// Append to stack's top as a child.
p->OnBuild();
onNodeBuild(p.get());
stack.top()->Append(std::move(p));
// resets level.
level = 1;
Expand Down

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