887 lines
31 KiB
TypeScript
887 lines
31 KiB
TypeScript
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import { World, Entity, Scene, createLogger, Time, Core } from '@esengine/ecs-framework';
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import {
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BehaviorTreeNode as BehaviorTreeNodeComponent,
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BlackboardComponent,
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ActiveNode,
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PropertyBindings,
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LogOutput,
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RootExecutionSystem,
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LeafExecutionSystem,
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DecoratorExecutionSystem,
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CompositeExecutionSystem,
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SubTreeExecutionSystem,
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FileSystemAssetLoader,
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CompositeNodeComponent,
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TaskStatus,
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NodeType,
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WaitAction,
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LogAction,
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SetBlackboardValueAction,
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ModifyBlackboardValueAction,
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ExecuteAction,
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BlackboardCompareCondition,
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BlackboardExistsCondition,
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RandomProbabilityCondition,
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ExecuteCondition,
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RootNode,
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SequenceNode,
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SelectorNode,
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ParallelNode,
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ParallelSelectorNode,
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RandomSequenceNode,
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RandomSelectorNode,
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SubTreeNode,
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InverterNode,
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RepeaterNode,
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UntilSuccessNode,
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UntilFailNode,
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AlwaysSucceedNode,
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AlwaysFailNode,
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ConditionalNode,
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CooldownNode,
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TimeoutNode,
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AbortType,
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CompareOperator
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} from '@esengine/behavior-tree';
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import type { BehaviorTreeNode } from '../stores/behaviorTreeStore';
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import { TauriAPI } from '../api/tauri';
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const logger = createLogger('BehaviorTreeExecutor');
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export interface ExecutionStatus {
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nodeId: string;
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status: 'running' | 'success' | 'failure' | 'idle';
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message?: string;
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}
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export interface ExecutionLog {
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timestamp: number;
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message: string;
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level: 'info' | 'success' | 'error' | 'warning';
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nodeId?: string;
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}
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export type ExecutionCallback = (
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statuses: ExecutionStatus[],
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logs: ExecutionLog[],
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blackboardVariables?: Record<string, any>
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) => void;
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/**
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* 真实的行为树执行器
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*
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* 使用真实的 ECS 系统执行行为树
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*/
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export class BehaviorTreeExecutor {
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private world: World;
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private scene: Scene;
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private rootEntity: Entity | null = null;
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private entityMap: Map<string, Entity> = new Map();
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private blackboardVariables: Record<string, any> = {};
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private initialBlackboardVariables: Record<string, any> = {};
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private callback: ExecutionCallback | null = null;
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private isRunning = false;
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private isPaused = false;
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private executionLogs: ExecutionLog[] = [];
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private lastStatuses: Map<string, 'running' | 'success' | 'failure' | 'idle'> = new Map();
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private debugMode = false;
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private tickCount = 0;
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// 存储节点ID -> 属性绑定信息的映射
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private propertyBindingsMap: Map<string, Map<string, string>> = new Map();
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// 标记是否已添加 SubTreeExecutionSystem
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private hasSubTreeSystem = false;
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constructor() {
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this.world = new World({ name: 'BehaviorTreeWorld' });
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this.scene = this.world.createScene('BehaviorTreeScene');
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// 只注册基础执行系统
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this.scene.addSystem(new RootExecutionSystem());
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this.scene.addSystem(new LeafExecutionSystem());
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this.scene.addSystem(new DecoratorExecutionSystem());
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this.scene.addSystem(new CompositeExecutionSystem());
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// SubTreeExecutionSystem 按需添加
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}
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/**
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* 检测是否有 SubTree 节点
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*/
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private detectSubTreeNodes(nodes: BehaviorTreeNode[]): boolean {
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return nodes.some(node => node.template.displayName === '子树');
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}
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/**
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* 从编辑器节点构建真实的 Entity 树
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*/
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buildTree(
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nodes: BehaviorTreeNode[],
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rootNodeId: string,
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blackboard: Record<string, any>,
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connections: Array<{ from: string; to: string; fromProperty?: string; toProperty?: string; connectionType: 'node' | 'property' }>,
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callback: ExecutionCallback,
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projectPath?: string | null
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): void {
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this.cleanup();
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this.blackboardVariables = { ...blackboard };
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this.callback = callback;
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const nodeMap = new Map<string, BehaviorTreeNode>();
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nodes.forEach(node => nodeMap.set(node.id, node));
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// 检测是否有 SubTree 节点
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const hasSubTreeNode = this.detectSubTreeNodes(nodes);
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if (hasSubTreeNode) {
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// 按需添加 SubTreeExecutionSystem
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if (!this.hasSubTreeSystem) {
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this.scene.addSystem(new SubTreeExecutionSystem());
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this.hasSubTreeSystem = true;
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logger.debug('检测到 SubTree 节点，已添加 SubTreeExecutionSystem');
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}
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// 配置资产加载器以支持 SubTree 节点
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if (projectPath) {
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const assetLoader = new FileSystemAssetLoader({
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basePath: `${projectPath}/.ecs/behaviors`,
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format: 'json',
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extension: '.btree',
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enableCache: true,
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readFile: async (path: string) => {
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const content = await TauriAPI.readFileContent(path);
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return content;
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}
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});
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Core.services.registerInstance(FileSystemAssetLoader, assetLoader);
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logger.info(`已配置资产加载器: ${projectPath}/.ecs/behaviors`);
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} else {
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logger.warn(
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'检测到 SubTree 节点，但未提供项目路径。\n' +
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'SubTree 节点需要项目路径来加载子树资产。\n' +
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'请在编辑器中打开项目，或确保运行时环境已正确配置资产路径。'
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);
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}
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}
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const rootNode = nodeMap.get(rootNodeId);
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if (!rootNode) {
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logger.error('未找到根节点');
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return;
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}
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// 先创建黑板组件
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const blackboardComp = new BlackboardComponent();
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Object.entries(this.blackboardVariables).forEach(([key, value]) => {
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const type = typeof value === 'number' ? 'number' :
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typeof value === 'string' ? 'string' :
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typeof value === 'boolean' ? 'boolean' :
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'object';
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blackboardComp.defineVariable(key, type as any, value);
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});
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// 在创建实体之前先处理属性连接，这样创建组件时就能读到正确的值
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this.applyPropertyConnections(connections, nodeMap, blackboardComp);
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// 创建实体树
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this.rootEntity = this.createEntityFromNode(rootNode, nodeMap, null);
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if (this.rootEntity) {
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// 将黑板组件添加到根实体
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this.rootEntity.addComponent(blackboardComp);
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// 添加LogOutput组件，用于收集日志
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this.rootEntity.addComponent(new LogOutput());
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if (this.debugMode) {
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this.logDebugTreeStructure();
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// 立即触发一次回调，显示 debug 信息
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if (this.callback) {
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this.callback([], this.executionLogs);
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}
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}
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}
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}
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/**
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* 应用属性连接
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* 记录属性到黑板变量的绑定关系
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*/
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private applyPropertyConnections(
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connections: Array<{ from: string; to: string; fromProperty?: string; toProperty?: string; connectionType: 'node' | 'property' }>,
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nodeMap: Map<string, BehaviorTreeNode>,
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blackboard: BlackboardComponent
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): void {
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// 清空之前的绑定信息
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this.propertyBindingsMap.clear();
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// 过滤出属性类型的连接
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const propertyConnections = connections.filter(conn => conn.connectionType === 'property');
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logger.info(`[属性绑定] 找到 ${propertyConnections.length} 个属性连接`);
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propertyConnections.forEach(conn => {
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const fromNode = nodeMap.get(conn.from);
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const toNode = nodeMap.get(conn.to);
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if (!fromNode || !toNode || !conn.toProperty) {
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logger.warn(`[属性绑定] 连接数据不完整: from=${conn.from}, to=${conn.to}, toProperty=${conn.toProperty}`);
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return;
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}
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let variableName: string | undefined;
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// 检查 from 节点是否是黑板变量节点
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if (fromNode.data.nodeType === 'blackboard-variable') {
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// 黑板变量节点，变量名在 data.variableName 中
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variableName = fromNode.data.variableName;
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} else if (conn.fromProperty) {
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// 普通节点的属性连接
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variableName = conn.fromProperty;
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}
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if (!variableName) {
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logger.warn(`[属性绑定] 无法确定变量名: from节点=${fromNode.template.displayName}`);
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return;
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}
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if (!blackboard.hasVariable(variableName)) {
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logger.warn(`[属性绑定] 黑板变量不存在: ${variableName}`);
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return;
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}
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// 记录绑定信息到 Map
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let nodeBindings = this.propertyBindingsMap.get(toNode.id);
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if (!nodeBindings) {
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nodeBindings = new Map<string, string>();
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this.propertyBindingsMap.set(toNode.id, nodeBindings);
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}
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nodeBindings.set(conn.toProperty, variableName);
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logger.info(`[属性绑定] 成功绑定: 节点 "${toNode.template.displayName}" 的属性 "${conn.toProperty}" -> 黑板变量 "${variableName}"`);
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});
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}
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/**
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* 递归创建 Entity
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*/
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private createEntityFromNode(
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node: BehaviorTreeNode,
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nodeMap: Map<string, BehaviorTreeNode>,
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parent: Entity | null
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): Entity {
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const displayName = node.template.displayName || 'Node';
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const entityName = `${displayName}#${node.id}`;
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const entity = this.scene.createEntity(entityName);
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this.entityMap.set(node.id, entity);
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if (parent) {
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parent.addChild(entity);
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}
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const btNode = new BehaviorTreeNodeComponent();
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btNode.nodeType = this.getNodeType(node);
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entity.addComponent(btNode);
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this.addNodeComponents(entity, node);
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// 检查是否有属性绑定，如果有则添加 PropertyBindings 组件
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const bindings = this.propertyBindingsMap.get(node.id);
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if (bindings && bindings.size > 0) {
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const propertyBindings = new PropertyBindings();
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bindings.forEach((variableName, propertyName) => {
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propertyBindings.addBinding(propertyName, variableName);
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});
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entity.addComponent(propertyBindings);
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logger.info(`[PropertyBindings] 为节点 "${node.template.displayName}" 添加了 ${bindings.size} 个属性绑定`);
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}
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node.children.forEach(childId => {
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const childNode = nodeMap.get(childId);
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if (childNode) {
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this.createEntityFromNode(childNode, nodeMap, entity);
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}
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});
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return entity;
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}
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/**
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* 获取节点类型
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*/
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private getNodeType(node: BehaviorTreeNode): NodeType {
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const type = node.template.type;
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if (type === NodeType.Composite) return NodeType.Composite;
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if (type === NodeType.Decorator) return NodeType.Decorator;
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if (type === NodeType.Action) return NodeType.Action;
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if (type === NodeType.Condition) return NodeType.Condition;
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return NodeType.Action;
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}
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/**
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* 根据节点数据添加对应的组件
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*/
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private addNodeComponents(entity: Entity, node: BehaviorTreeNode): void {
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const category = node.template.category;
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const data = node.data;
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if (category === '根节点' || data.nodeType === 'root') {
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// 根节点使用专门的 RootNode 组件
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entity.addComponent(new RootNode());
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} else if (category === '动作') {
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this.addActionComponent(entity, node);
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} else if (category === '条件') {
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this.addConditionComponent(entity, node);
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} else if (category === '组合') {
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this.addCompositeComponent(entity, node);
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} else if (category === '装饰器') {
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this.addDecoratorComponent(entity, node);
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}
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}
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/**
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* 添加动作组件
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*/
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private addActionComponent(entity: Entity, node: BehaviorTreeNode): void {
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const displayName = node.template.displayName;
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if (displayName === '等待') {
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const action = new WaitAction();
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action.waitTime = node.data.waitTime ?? 1.0;
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entity.addComponent(action);
|
|||
|
|
} else if (displayName === '日志') {
|
|||
|
|
const action = new LogAction();
|
|||
|
|
action.message = node.data.message ?? '';
|
|||
|
|
action.level = node.data.level ?? 'log';
|
|||
|
|
entity.addComponent(action);
|
|||
|
|
} else if (displayName === '设置变量') {
|
|||
|
|
const action = new SetBlackboardValueAction();
|
|||
|
|
action.variableName = node.data.variableName ?? '';
|
|||
|
|
action.value = node.data.value;
|
|||
|
|
entity.addComponent(action);
|
|||
|
|
} else if (displayName === '修改变量') {
|
|||
|
|
const action = new ModifyBlackboardValueAction();
|
|||
|
|
action.variableName = node.data.variableName ?? '';
|
|||
|
|
action.operation = node.data.operation ?? 'add';
|
|||
|
|
action.operand = node.data.operand ?? 0;
|
|||
|
|
entity.addComponent(action);
|
|||
|
|
} else if (displayName === '自定义动作') {
|
|||
|
|
const action = new ExecuteAction();
|
|||
|
|
action.actionCode = node.data.actionCode ?? 'return TaskStatus.Success;';
|
|||
|
|
entity.addComponent(action);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 添加条件组件
|
|||
|
|
*/
|
|||
|
|
private addConditionComponent(entity: Entity, node: BehaviorTreeNode): void {
|
|||
|
|
const displayName = node.template.displayName;
|
|||
|
|
|
|||
|
|
if (displayName === '比较变量') {
|
|||
|
|
const condition = new BlackboardCompareCondition();
|
|||
|
|
condition.variableName = node.data.variableName ?? '';
|
|||
|
|
condition.operator = (node.data.operator as CompareOperator) ?? CompareOperator.Equal;
|
|||
|
|
condition.compareValue = node.data.compareValue;
|
|||
|
|
condition.invertResult = node.data.invertResult ?? false;
|
|||
|
|
entity.addComponent(condition);
|
|||
|
|
} else if (displayName === '变量存在') {
|
|||
|
|
const condition = new BlackboardExistsCondition();
|
|||
|
|
condition.variableName = node.data.variableName ?? '';
|
|||
|
|
condition.checkNotNull = node.data.checkNotNull ?? false;
|
|||
|
|
condition.invertResult = node.data.invertResult ?? false;
|
|||
|
|
entity.addComponent(condition);
|
|||
|
|
} else if (displayName === '随机概率') {
|
|||
|
|
const condition = new RandomProbabilityCondition();
|
|||
|
|
condition.probability = node.data.probability ?? 0.5;
|
|||
|
|
entity.addComponent(condition);
|
|||
|
|
} else if (displayName === '执行条件') {
|
|||
|
|
const condition = new ExecuteCondition();
|
|||
|
|
condition.conditionCode = node.data.conditionCode ?? '';
|
|||
|
|
condition.invertResult = node.data.invertResult ?? false;
|
|||
|
|
entity.addComponent(condition);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 添加复合节点组件
|
|||
|
|
*/
|
|||
|
|
private addCompositeComponent(entity: Entity, node: BehaviorTreeNode): void {
|
|||
|
|
const displayName = node.template.displayName;
|
|||
|
|
|
|||
|
|
if (displayName === '序列') {
|
|||
|
|
const composite = new SequenceNode();
|
|||
|
|
composite.abortType = (node.data.abortType as AbortType) ?? AbortType.None;
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '选择') {
|
|||
|
|
const composite = new SelectorNode();
|
|||
|
|
composite.abortType = (node.data.abortType as AbortType) ?? AbortType.None;
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '并行') {
|
|||
|
|
const composite = new ParallelNode();
|
|||
|
|
composite.successPolicy = node.data.successPolicy ?? 'all';
|
|||
|
|
composite.failurePolicy = node.data.failurePolicy ?? 'one';
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '并行选择') {
|
|||
|
|
const composite = new ParallelSelectorNode();
|
|||
|
|
composite.failurePolicy = node.data.failurePolicy ?? 'one';
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '随机序列') {
|
|||
|
|
const composite = new RandomSequenceNode();
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '随机选择') {
|
|||
|
|
const composite = new RandomSelectorNode();
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
} else if (displayName === '子树') {
|
|||
|
|
const composite = new SubTreeNode();
|
|||
|
|
composite.assetId = node.data.assetId ?? '';
|
|||
|
|
composite.inheritParentBlackboard = node.data.inheritParentBlackboard ?? true;
|
|||
|
|
composite.propagateFailure = node.data.propagateFailure ?? true;
|
|||
|
|
entity.addComponent(composite);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 添加装饰器组件
|
|||
|
|
*/
|
|||
|
|
private addDecoratorComponent(entity: Entity, node: BehaviorTreeNode): void {
|
|||
|
|
const displayName = node.template.displayName;
|
|||
|
|
|
|||
|
|
if (displayName === '反转') {
|
|||
|
|
entity.addComponent(new InverterNode());
|
|||
|
|
} else if (displayName === '重复') {
|
|||
|
|
const decorator = new RepeaterNode();
|
|||
|
|
decorator.repeatCount = node.data.repeatCount ?? -1;
|
|||
|
|
decorator.endOnFailure = node.data.endOnFailure ?? false;
|
|||
|
|
entity.addComponent(decorator);
|
|||
|
|
} else if (displayName === '直到成功') {
|
|||
|
|
entity.addComponent(new UntilSuccessNode());
|
|||
|
|
} else if (displayName === '直到失败') {
|
|||
|
|
entity.addComponent(new UntilFailNode());
|
|||
|
|
} else if (displayName === '总是成功') {
|
|||
|
|
entity.addComponent(new AlwaysSucceedNode());
|
|||
|
|
} else if (displayName === '总是失败') {
|
|||
|
|
entity.addComponent(new AlwaysFailNode());
|
|||
|
|
} else if (displayName === '条件装饰器') {
|
|||
|
|
const decorator = new ConditionalNode();
|
|||
|
|
decorator.conditionCode = node.data.conditionCode;
|
|||
|
|
decorator.shouldReevaluate = node.data.shouldReevaluate ?? true;
|
|||
|
|
entity.addComponent(decorator);
|
|||
|
|
} else if (displayName === '冷却') {
|
|||
|
|
const decorator = new CooldownNode();
|
|||
|
|
decorator.cooldownTime = node.data.cooldownTime ?? 1.0;
|
|||
|
|
entity.addComponent(decorator);
|
|||
|
|
} else if (displayName === '超时') {
|
|||
|
|
const decorator = new TimeoutNode();
|
|||
|
|
decorator.timeoutDuration = node.data.timeoutDuration ?? 1.0;
|
|||
|
|
entity.addComponent(decorator);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 开始执行
|
|||
|
|
*/
|
|||
|
|
start(): void {
|
|||
|
|
if (!this.rootEntity) {
|
|||
|
|
logger.error('未构建行为树');
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
this.isRunning = true;
|
|||
|
|
this.isPaused = false;
|
|||
|
|
this.executionLogs = [];
|
|||
|
|
this.lastStatuses.clear();
|
|||
|
|
this.tickCount = 0;
|
|||
|
|
|
|||
|
|
// 保存黑板变量的初始值（深拷贝）
|
|||
|
|
this.initialBlackboardVariables = JSON.parse(JSON.stringify(this.blackboardVariables));
|
|||
|
|
|
|||
|
|
this.addLog('开始执行行为树', 'info');
|
|||
|
|
|
|||
|
|
// 打印树结构用于调试
|
|||
|
|
this.addLog('=== 行为树结构 ===', 'info');
|
|||
|
|
this.logEntityStructure(this.rootEntity, 0);
|
|||
|
|
this.addLog('===================', 'info');
|
|||
|
|
|
|||
|
|
this.rootEntity.addComponent(new ActiveNode());
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 暂停执行
|
|||
|
|
*/
|
|||
|
|
pause(): void {
|
|||
|
|
this.isPaused = true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 恢复执行
|
|||
|
|
*/
|
|||
|
|
resume(): void {
|
|||
|
|
this.isPaused = false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 停止执行
|
|||
|
|
*/
|
|||
|
|
stop(): void {
|
|||
|
|
this.isRunning = false;
|
|||
|
|
this.isPaused = false;
|
|||
|
|
|
|||
|
|
if (this.rootEntity) {
|
|||
|
|
this.deactivateAllNodes(this.rootEntity);
|
|||
|
|
|
|||
|
|
// 恢复黑板变量到初始值
|
|||
|
|
this.restoreBlackboardVariables();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 恢复黑板变量到初始值
|
|||
|
|
*/
|
|||
|
|
private restoreBlackboardVariables(): void {
|
|||
|
|
if (!this.rootEntity) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
const blackboard = this.rootEntity.getComponent(BlackboardComponent);
|
|||
|
|
if (!blackboard) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 恢复所有变量到初始值
|
|||
|
|
Object.entries(this.initialBlackboardVariables).forEach(([key, value]) => {
|
|||
|
|
blackboard.setValue(key, value, true);
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
// 同步到 blackboardVariables
|
|||
|
|
this.blackboardVariables = JSON.parse(JSON.stringify(this.initialBlackboardVariables));
|
|||
|
|
|
|||
|
|
this.addLog('已恢复黑板变量到初始值', 'info');
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 递归停用所有节点
|
|||
|
|
*/
|
|||
|
|
private deactivateAllNodes(entity: Entity): void {
|
|||
|
|
entity.removeComponentByType(ActiveNode);
|
|||
|
|
|
|||
|
|
const btNode = entity.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
if (btNode) {
|
|||
|
|
btNode.reset();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
entity.children.forEach((child: Entity) => this.deactivateAllNodes(child));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 执行一帧
|
|||
|
|
*/
|
|||
|
|
tick(deltaTime: number): void {
|
|||
|
|
if (!this.isRunning || this.isPaused) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 更新全局时间信息
|
|||
|
|
Time.update(deltaTime);
|
|||
|
|
|
|||
|
|
this.tickCount++;
|
|||
|
|
|
|||
|
|
if (this.debugMode) {
|
|||
|
|
this.addLog(`=== Tick ${this.tickCount} ===`, 'info');
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
this.scene.update();
|
|||
|
|
|
|||
|
|
if (this.debugMode) {
|
|||
|
|
this.logDebugSystemExecution();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
this.collectExecutionStatus();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 收集所有节点的执行状态
|
|||
|
|
*/
|
|||
|
|
private collectExecutionStatus(): void {
|
|||
|
|
if (!this.callback) return;
|
|||
|
|
|
|||
|
|
const statuses: ExecutionStatus[] = [];
|
|||
|
|
|
|||
|
|
this.entityMap.forEach((entity, nodeId) => {
|
|||
|
|
const btNode = entity.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
if (!btNode) return;
|
|||
|
|
|
|||
|
|
let status: 'running' | 'success' | 'failure' | 'idle' = 'idle';
|
|||
|
|
|
|||
|
|
if (entity.hasComponent(ActiveNode)) {
|
|||
|
|
status = 'running';
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (btNode.status === TaskStatus.Success) {
|
|||
|
|
status = 'success';
|
|||
|
|
} else if (btNode.status === TaskStatus.Failure) {
|
|||
|
|
status = 'failure';
|
|||
|
|
} else if (btNode.status === TaskStatus.Running) {
|
|||
|
|
status = 'running';
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 检测状态变化并记录日志
|
|||
|
|
const lastStatus = this.lastStatuses.get(nodeId);
|
|||
|
|
if (lastStatus !== status) {
|
|||
|
|
this.onNodeStatusChanged(nodeId, entity.name, lastStatus || 'idle', status, entity);
|
|||
|
|
this.lastStatuses.set(nodeId, status);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
statuses.push({
|
|||
|
|
nodeId,
|
|||
|
|
status
|
|||
|
|
});
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
// 收集LogOutput组件中的日志
|
|||
|
|
if (this.rootEntity) {
|
|||
|
|
const logOutput = this.rootEntity.getComponent(LogOutput);
|
|||
|
|
if (logOutput && logOutput.messages.length > 0) {
|
|||
|
|
// 将LogOutput中的日志转换为ExecutionLog格式并添加到日志列表
|
|||
|
|
logOutput.messages.forEach((msg) => {
|
|||
|
|
this.addLog(
|
|||
|
|
msg.message,
|
|||
|
|
msg.level === 'error' ? 'error' :
|
|||
|
|
msg.level === 'warn' ? 'warning' : 'info'
|
|||
|
|
);
|
|||
|
|
});
|
|||
|
|
// 清空已处理的日志
|
|||
|
|
logOutput.clear();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 获取当前黑板变量
|
|||
|
|
const currentBlackboardVars = this.getBlackboardVariables();
|
|||
|
|
|
|||
|
|
this.callback(statuses, this.executionLogs, currentBlackboardVars);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 节点状态变化时记录日志
|
|||
|
|
*/
|
|||
|
|
private onNodeStatusChanged(
|
|||
|
|
nodeId: string,
|
|||
|
|
nodeName: string,
|
|||
|
|
oldStatus: string,
|
|||
|
|
newStatus: string,
|
|||
|
|
entity: Entity
|
|||
|
|
): void {
|
|||
|
|
if (newStatus === 'running') {
|
|||
|
|
this.addLog(`[${nodeName}] 开始执行`, 'info', nodeId);
|
|||
|
|
} else if (newStatus === 'success') {
|
|||
|
|
// 检查是否是空的复合节点
|
|||
|
|
// 排除动态加载子节点的节点（如 SubTreeNode），它们的子节点是运行时动态加载的
|
|||
|
|
const btNode = entity.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
const hasDynamicChildren = entity.hasComponent(SubTreeNode);
|
|||
|
|
if (btNode && btNode.nodeType === NodeType.Composite &&
|
|||
|
|
entity.children.length === 0 && !hasDynamicChildren) {
|
|||
|
|
this.addLog(`[${nodeName}] 执行成功（空节点，无子节点）`, 'warning', nodeId);
|
|||
|
|
} else {
|
|||
|
|
this.addLog(`[${nodeName}] 执行成功`, 'success', nodeId);
|
|||
|
|
}
|
|||
|
|
} else if (newStatus === 'failure') {
|
|||
|
|
this.addLog(`[${nodeName}] 执行失败`, 'error', nodeId);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 添加日志
|
|||
|
|
*/
|
|||
|
|
private addLog(message: string, level: 'info' | 'success' | 'error' | 'warning', nodeId?: string): void {
|
|||
|
|
this.executionLogs.push({
|
|||
|
|
timestamp: Date.now(),
|
|||
|
|
message,
|
|||
|
|
level,
|
|||
|
|
nodeId
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
// 限制日志数量，避免内存泄漏
|
|||
|
|
if (this.executionLogs.length > 1000) {
|
|||
|
|
this.executionLogs.shift();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 获取当前tick计数
|
|||
|
|
*/
|
|||
|
|
getTickCount(): number {
|
|||
|
|
return this.tickCount;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 获取黑板变量
|
|||
|
|
*/
|
|||
|
|
getBlackboardVariables(): Record<string, any> {
|
|||
|
|
if (!this.rootEntity) return {};
|
|||
|
|
|
|||
|
|
const blackboard = this.rootEntity.getComponent(BlackboardComponent);
|
|||
|
|
if (!blackboard) return {};
|
|||
|
|
|
|||
|
|
const variables: Record<string, any> = {};
|
|||
|
|
const names = blackboard.getVariableNames();
|
|||
|
|
names.forEach((name: string) => {
|
|||
|
|
variables[name] = blackboard.getValue(name);
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
return variables;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 更新黑板变量
|
|||
|
|
*/
|
|||
|
|
updateBlackboardVariable(key: string, value: any): void {
|
|||
|
|
if (!this.rootEntity) {
|
|||
|
|
logger.warn('无法更新黑板变量：未构建行为树');
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
const blackboard = this.rootEntity.getComponent(BlackboardComponent);
|
|||
|
|
if (!blackboard) {
|
|||
|
|
logger.warn('无法更新黑板变量：未找到黑板组件');
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (!blackboard.hasVariable(key)) {
|
|||
|
|
logger.warn(`无法更新黑板变量：变量 "${key}" 不存在`);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
blackboard.setValue(key, value);
|
|||
|
|
this.blackboardVariables[key] = value;
|
|||
|
|
logger.info(`黑板变量已更新: ${key} = ${JSON.stringify(value)}`);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 记录树结构的 debug 信息
|
|||
|
|
*/
|
|||
|
|
private logDebugTreeStructure(): void {
|
|||
|
|
if (!this.rootEntity) return;
|
|||
|
|
|
|||
|
|
this.addLog('=== 行为树结构 Debug 信息 ===', 'info');
|
|||
|
|
this.logEntityStructure(this.rootEntity, 0);
|
|||
|
|
this.addLog('=== Debug 信息结束 ===', 'info');
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 递归记录实体结构
|
|||
|
|
*/
|
|||
|
|
private logEntityStructure(entity: Entity, depth: number): void {
|
|||
|
|
const indent = ' '.repeat(depth);
|
|||
|
|
const nodeId = Array.from(this.entityMap.entries()).find(([_, e]) => e === entity)?.[0] || 'unknown';
|
|||
|
|
const btNode = entity.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
|
|||
|
|
// 获取节点的具体类型组件
|
|||
|
|
const allComponents = entity.components.map(c => c.constructor.name);
|
|||
|
|
const nodeTypeComponent = allComponents.find(name =>
|
|||
|
|
name !== 'BehaviorTreeNode' && name !== 'ActiveNode' &&
|
|||
|
|
name !== 'BlackboardComponent' && name !== 'LogOutput' &&
|
|||
|
|
name !== 'PropertyBindings'
|
|||
|
|
) || 'Unknown';
|
|||
|
|
|
|||
|
|
// 构建节点显示名称
|
|||
|
|
let nodeName = entity.name;
|
|||
|
|
if (nodeTypeComponent !== 'Unknown') {
|
|||
|
|
nodeName = `${nodeName} [${nodeTypeComponent}]`;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
this.addLog(
|
|||
|
|
`${indent}└─ ${nodeName} (id: ${nodeId})`,
|
|||
|
|
'info'
|
|||
|
|
);
|
|||
|
|
|
|||
|
|
// 检查是否是 SubTreeNode，如果是则显示子树内部结构
|
|||
|
|
const subTreeNode = entity.getComponent(SubTreeNode);
|
|||
|
|
if (subTreeNode) {
|
|||
|
|
const subTreeRoot = subTreeNode.getSubTreeRoot();
|
|||
|
|
if (subTreeRoot) {
|
|||
|
|
this.addLog(`${indent} [SubTree] 资产ID: ${subTreeNode.assetId}`, 'info');
|
|||
|
|
this.addLog(`${indent} [SubTree] 内部结构:`, 'info');
|
|||
|
|
this.logEntityStructure(subTreeRoot, depth + 1);
|
|||
|
|
} else {
|
|||
|
|
this.addLog(`${indent} [SubTree] 资产ID: ${subTreeNode.assetId} (未加载)`, 'info');
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (entity.children.length > 0) {
|
|||
|
|
this.addLog(`${indent} 子节点数: ${entity.children.length}`, 'info');
|
|||
|
|
entity.children.forEach((child: Entity) => {
|
|||
|
|
this.logEntityStructure(child, depth + 1);
|
|||
|
|
});
|
|||
|
|
} else if (btNode && (btNode.nodeType === NodeType.Decorator || btNode.nodeType === NodeType.Composite)) {
|
|||
|
|
// SubTreeNode 是特殊情况，不需要静态子节点
|
|||
|
|
if (!subTreeNode) {
|
|||
|
|
this.addLog(`${indent} ⚠ 警告: 此节点应该有子节点`, 'warning');
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 记录系统执行的 debug 信息
|
|||
|
|
*/
|
|||
|
|
private logDebugSystemExecution(): void {
|
|||
|
|
if (!this.rootEntity) return;
|
|||
|
|
|
|||
|
|
const activeEntities: Entity[] = [];
|
|||
|
|
this.entityMap.forEach((entity) => {
|
|||
|
|
if (entity.hasComponent(ActiveNode)) {
|
|||
|
|
activeEntities.push(entity);
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
if (activeEntities.length > 0) {
|
|||
|
|
this.addLog(`活跃节点数: ${activeEntities.length}`, 'info');
|
|||
|
|
activeEntities.forEach((entity) => {
|
|||
|
|
const nodeId = Array.from(this.entityMap.entries()).find(([_, e]) => e === entity)?.[0];
|
|||
|
|
const btNode = entity.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
|
|||
|
|
// 显示该节点的详细信息
|
|||
|
|
const components = entity.components.map(c => c.constructor.name).join(', ');
|
|||
|
|
this.addLog(
|
|||
|
|
` - [${entity.name}] status=${btNode?.status}, nodeType=${btNode?.nodeType}, children=${entity.children.length}`,
|
|||
|
|
'info',
|
|||
|
|
nodeId
|
|||
|
|
);
|
|||
|
|
this.addLog(` 组件: ${components}`, 'info', nodeId);
|
|||
|
|
|
|||
|
|
// 显示子节点状态
|
|||
|
|
if (entity.children.length > 0) {
|
|||
|
|
entity.children.forEach((child: Entity, index: number) => {
|
|||
|
|
const childBtNode = child.getComponent(BehaviorTreeNodeComponent);
|
|||
|
|
const childActive = child.hasComponent(ActiveNode);
|
|||
|
|
this.addLog(
|
|||
|
|
` 子节点${index}: [${child.name}] status=${childBtNode?.status}, active=${childActive}`,
|
|||
|
|
'info',
|
|||
|
|
nodeId
|
|||
|
|
);
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 清理资源
|
|||
|
|
*/
|
|||
|
|
cleanup(): void {
|
|||
|
|
this.stop();
|
|||
|
|
this.entityMap.clear();
|
|||
|
|
this.propertyBindingsMap.clear();
|
|||
|
|
this.rootEntity = null;
|
|||
|
|
|
|||
|
|
this.scene.destroyAllEntities();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 销毁
|
|||
|
|
*/
|
|||
|
|
destroy(): void {
|
|||
|
|
this.cleanup();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|