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## Sequence nodes will attempt to execute all of its children and report
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## `SUCCESS` in case all of the children report a `SUCCESS` status code.
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## If at least one child reports a `FAILURE` status code, this node will also
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## return `FAILURE` and restart.
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## In case a child returns `RUNNING` this node will tick again.
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@tool
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@icon("../../icons/sequence.svg")
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class_name SequenceComposite extends Composite
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var successful_index: int = 0
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func tick(actor: Node, blackboard: Blackboard) -> int:
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for c in get_children():
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if c.get_index() < successful_index:
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continue
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if c != running_child:
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c.before_run(actor, blackboard)
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var response = c.tick(actor, blackboard)
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if can_send_message(blackboard):
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BeehaveDebuggerMessages.process_tick(c.get_instance_id(), response)
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if c is ConditionLeaf:
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blackboard.set_value("last_condition", c, str(actor.get_instance_id()))
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blackboard.set_value("last_condition_status", response, str(actor.get_instance_id()))
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match response:
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SUCCESS:
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_cleanup_running_task(c, actor, blackboard)
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successful_index += 1
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c.after_run(actor, blackboard)
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FAILURE:
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_cleanup_running_task(c, actor, blackboard)
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# Interrupt any child that was RUNNING before.
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interrupt(actor, blackboard)
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c.after_run(actor, blackboard)
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return FAILURE
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RUNNING:
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if c != running_child:
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if running_child != null:
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running_child.interrupt(actor, blackboard)
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running_child = c
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if c is ActionLeaf:
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blackboard.set_value("running_action", c, str(actor.get_instance_id()))
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return RUNNING
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_reset()
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return SUCCESS
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func interrupt(actor: Node, blackboard: Blackboard) -> void:
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_reset()
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super(actor, blackboard)
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func _reset() -> void:
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successful_index = 0
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## Changes `running_action` and `running_child` after the node finishes executing.
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func _cleanup_running_task(finished_action: Node, actor: Node, blackboard: Blackboard):
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var blackboard_name = str(actor.get_instance_id())
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if finished_action == running_child:
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running_child = null
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if finished_action == blackboard.get_value("running_action", null, blackboard_name):
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blackboard.set_value("running_action", null, blackboard_name)
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func get_class_name() -> Array[StringName]:
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var classes := super()
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classes.push_back(&"SequenceComposite")
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return classes
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