修复#17

core/BehaviorTree.go

@@ -147,7 +147,7 @@ func (this *BehaviorTree) SetDebug(debug interface{}) {
 	this.debug = debug
 }
 
-func  (this *BehaviorTree) GetRoot() IBaseNode {
+func (this *BehaviorTree) GetRoot() IBaseNode {
 	return this.root
 }
 
@@ -295,10 +295,21 @@ func (this *BehaviorTree) Tick(target interface{}, blackboard *Blackboard) b3.St
 	var currOpenNodes []IBaseNode
 	currOpenNodes = append(currOpenNodes, tick._openNodes...)
 
+	var same bool
+	l := len(lastOpenNodes)
+	if l == len(currOpenNodes) {
+		if l == 0 || lastOpenNodes[l-1] == currOpenNodes[l-1] {
+			same = true
+		}
+	}
+	if same {
+		return state
+	}
+
 	// does not close if it is still open in this tick
 	var start = 0
 	for i := 0; i < b3.MinInt(len(lastOpenNodes), len(currOpenNodes)); i++ {
-		start = i + 1
+		start = i
 		if lastOpenNodes[i] != currOpenNodes[i] {
 			break
 		}

examples/testwork/README.md

@@ -0,0 +1,119 @@
+# 修正第一个记忆节点无法关闭示例
+关联问题https://github.com/magicsea/behavior3go/issues/17 。  
+追踪原版的老bug，记忆节点链关闭的第一个会执行不了onclose，导致memseq节点会错误的记录runningChild不清理。   
+错误表现为，因为runningChild没重置，直接从Wait0-2跳入Wait1-2。   
+### 修复方法 
+start=i+1改start，增加same判断是否调用链修改了（不判断会导致一直在running节点）。   
+
+### 修复前后日志
+重现需开打Wait节点的print日志。
+- 修复前日志
+```
+logtest: <nil> job 0-0
+wait: Wait0-1 <milliseconds>ms <nil> => 0
+wait: Wait0-1 <milliseconds>ms <nil> => 108
+wait: Wait0-1 <milliseconds>ms <nil> => 216
+wait: Wait0-1 <milliseconds>ms <nil> => 325
+wait: Wait0-1 <milliseconds>ms <nil> => 434
+wait: Wait0-1 <milliseconds>ms <nil> => 542
+wait: Wait0-1 <milliseconds>ms <nil> => 652
+wait: Wait0-1 <milliseconds>ms <nil> => 759
+wait: Wait0-1 <milliseconds>ms <nil> => 869
+wait: Wait0-1 <milliseconds>ms <nil> => 978
+wait: Wait0-1 <milliseconds>ms <nil> => 1087
+logtest: <nil> job 0-1
+logtest: <nil> job 0-2
+wait: Wait0-2 <milliseconds>ms <nil> => 0
+wait: Wait0-2 <milliseconds>ms <nil> => 109
+logtest: <nil> job 1-0
+wait: Wait1-1 <milliseconds>ms <nil> => 0
+wait: Wait1-1 <milliseconds>ms <nil> => 111
+wait: Wait1-1 <milliseconds>ms <nil> => 221
+wait: Wait1-1 <milliseconds>ms <nil> => 331
+wait: Wait1-1 <milliseconds>ms <nil> => 442
+wait: Wait1-1 <milliseconds>ms <nil> => 551
+wait: Wait1-1 <milliseconds>ms <nil> => 662
+wait: Wait1-1 <milliseconds>ms <nil> => 771
+wait: Wait1-1 <milliseconds>ms <nil> => 880
+wait: Wait1-1 <milliseconds>ms <nil> => 991
+wait: Wait1-1 <milliseconds>ms <nil> => 1098
+logtest: <nil> job 1-1
+logtest: <nil> job 1-2
+wait: Wait1-2 <milliseconds>ms <nil> => 0
+logtest: <nil> job 0-0
+wait: Wait0-1 <milliseconds>ms <nil> => 0
+wait: Wait0-1 <milliseconds>ms <nil> => 109
+wait: Wait0-1 <milliseconds>ms <nil> => 219
+wait: Wait0-1 <milliseconds>ms <nil> => 329
+wait: Wait0-1 <milliseconds>ms <nil> => 438
+wait: Wait0-1 <milliseconds>ms <nil> => 545
+wait: Wait0-1 <milliseconds>ms <nil> => 652
+wait: Wait0-1 <milliseconds>ms <nil> => 760
+wait: Wait0-1 <milliseconds>ms <nil> => 869
+wait: Wait0-1 <milliseconds>ms <nil> => 976
+wait: Wait0-1 <milliseconds>ms <nil> => 1084
+logtest: <nil> job 0-1
+logtest: <nil> job 0-2
+wait: Wait0-2 <milliseconds>ms <nil> => 0
+wait: Wait0-2 <milliseconds>ms <nil> => 108
+wait: Wait1-2 <milliseconds>ms <nil> => 0<--------------------错误行,应该进入：job 1-0
+wait: Wait1-2 <milliseconds>ms <nil> => 107
+logtest: <nil> job 1-0
+wait: Wait1-1 <milliseconds>ms <nil> => 0
+wait: Wait1-1 <milliseconds>ms <nil> => 108
+wait: Wait1-1 <milliseconds>ms <nil> => 216
+
+
+```
+
+- 修复后日志
+```
+logtest: <nil> job 0-0
+wait: Wait0-1 <milliseconds>ms <nil> => 0
+wait: Wait0-1 <milliseconds>ms <nil> => 110
+wait: Wait0-1 <milliseconds>ms <nil> => 217
+wait: Wait0-1 <milliseconds>ms <nil> => 327
+wait: Wait0-1 <milliseconds>ms <nil> => 437
+wait: Wait0-1 <milliseconds>ms <nil> => 545
+wait: Wait0-1 <milliseconds>ms <nil> => 653
+wait: Wait0-1 <milliseconds>ms <nil> => 763
+wait: Wait0-1 <milliseconds>ms <nil> => 872
+wait: Wait0-1 <milliseconds>ms <nil> => 980
+wait: Wait0-1 <milliseconds>ms <nil> => 1088
+logtest: <nil> job 0-1
+logtest: <nil> job 0-2
+wait: Wait0-2 <milliseconds>ms <nil> => 0
+wait: Wait0-2 <milliseconds>ms <nil> => 109
+logtest: <nil> job 1-0
+wait: Wait1-1 <milliseconds>ms <nil> => 0
+wait: Wait1-1 <milliseconds>ms <nil> => 109
+wait: Wait1-1 <milliseconds>ms <nil> => 219
+wait: Wait1-1 <milliseconds>ms <nil> => 328
+wait: Wait1-1 <milliseconds>ms <nil> => 436
+wait: Wait1-1 <milliseconds>ms <nil> => 545
+wait: Wait1-1 <milliseconds>ms <nil> => 652
+wait: Wait1-1 <milliseconds>ms <nil> => 759
+wait: Wait1-1 <milliseconds>ms <nil> => 868
+wait: Wait1-1 <milliseconds>ms <nil> => 976
+wait: Wait1-1 <milliseconds>ms <nil> => 1085
+logtest: <nil> job 1-1
+logtest: <nil> job 1-2
+wait: Wait1-2 <milliseconds>ms <nil> => 0
+logtest: <nil> job 0-0
+wait: Wait0-1 <milliseconds>ms <nil> => 753
+wait: Wait0-1 <milliseconds>ms <nil> => 861
+wait: Wait0-1 <milliseconds>ms <nil> => 967
+wait: Wait0-1 <milliseconds>ms <nil> => 1075
+logtest: <nil> job 0-1
+logtest: <nil> job 0-2
+wait: Wait0-2 <milliseconds>ms <nil> => 0
+wait: Wait0-2 <milliseconds>ms <nil> => 109
+<---------------------------------------------------------------------正确切换到1-0
+logtest: <nil> job 1-0
+wait: Wait1-1 <milliseconds>ms <nil> => 0
+wait: Wait1-1 <milliseconds>ms <nil> => 108
+wait: Wait1-1 <milliseconds>ms <nil> => 217
+wait: Wait1-1 <milliseconds>ms <nil> => 325
+wait: Wait1-1 <milliseconds>ms <nil> => 433
+
+```

examples/testwork/main.go

@@ -0,0 +1,63 @@
+/*
+从原生工程文件加载
+*/
+package main
+
+import (
+	"fmt"
+	b3 "github.com/magicsea/behavior3go"
+	. "github.com/magicsea/behavior3go/config"
+	. "github.com/magicsea/behavior3go/core"
+	. "github.com/magicsea/behavior3go/examples/share"
+	. "github.com/magicsea/behavior3go/loader"
+	"sync"
+	"time"
+)
+
+// 所有的树管理
+var mapTreesByID = sync.Map{}
+var maps = b3.NewRegisterStructMaps()
+
+func init() {
+	//自定义节点注册
+	maps.Register("Log", new(LogTest))
+	maps.Register("SetValue", new(SetValue))
+	maps.Register("IsValue", new(IsValue))
+
+	//获取子树的方法
+	SetSubTreeLoadFunc(func(id string) *BehaviorTree {
+		//println("==>load subtree:",id)
+		t, ok := mapTreesByID.Load(id)
+		if ok {
+			return t.(*BehaviorTree)
+		}
+		return nil
+	})
+}
+
+func main() {
+	projectConfig, ok := LoadRawProjectCfg("testwork.b3")
+	if !ok {
+		fmt.Println("LoadRawProjectCfg err")
+		return
+	}
+
+	var firstTree *BehaviorTree
+	//载入
+	for _, v := range projectConfig.Data.Trees {
+		tree := CreateBevTreeFromConfig(&v, maps)
+		tree.Print()
+		mapTreesByID.Store(v.ID, tree)
+		if firstTree == nil {
+			firstTree = tree
+		}
+	}
+	time.Sleep(time.Second)
+	//输入板
+	board := NewBlackboard()
+	//循环每一帧
+	for i := 0; i < 40; i++ {
+		firstTree.Tick(i, board)
+		time.Sleep(time.Millisecond * 100)
+	}
+}