limboai/bt/bt_instance.h

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/**
* bt_instance.h
* =============================================================================
* Copyright 2021-2024 Serhii Snitsaruk
*
* Use of this source code is governed by an MIT-style
* license that can be found in the LICENSE file or at
* https://opensource.org/licenses/MIT.
* =============================================================================
*/
#ifndef BT_INSTANCE_H
#define BT_INSTANCE_H
#include "tasks/bt_task.h"
class BTInstance : public RefCounted {
GDCLASS(BTInstance, RefCounted);
private:
Ref<BTTask> root_task;
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uint64_t owner_node_id = 0;
String source_bt_path;
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BT::Status last_status = BT::FRESH;
#ifdef DEBUG_ENABLED
bool monitor_performance = false;
StringName monitor_id;
double update_time_acc = 0.0;
double update_time_n = 0.0;
double _get_mean_update_time_msec_and_reset();
void _add_custom_monitor();
void _remove_custom_monitor();
#endif // * DEBUG_ENABLED
protected:
static void _bind_methods();
public:
_FORCE_INLINE_ Ref<BTTask> get_root_task() const { return root_task; }
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_FORCE_INLINE_ Node *get_owner_node() const { return owner_node_id ? Object::cast_to<Node>(OBJECT_DB_GET_INSTANCE(owner_node_id)) : nullptr; }
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_FORCE_INLINE_ BT::Status get_last_status() const { return last_status; }
_FORCE_INLINE_ String get_source_bt_path() const { return source_bt_path; }
_FORCE_INLINE_ Node *get_agent() const { return root_task.is_valid() ? root_task->get_agent() : nullptr; }
_FORCE_INLINE_ Ref<Blackboard> get_blackboard() const { return root_task.is_valid() ? root_task->get_blackboard() : Ref<Blackboard>(); }
_FORCE_INLINE_ bool is_instance_valid() const { return root_task.is_valid(); }
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BT::Status update(double p_delta);
void set_monitor_performance(bool p_monitor);
bool get_monitor_performance() const;
void register_with_debugger();
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void unregister_with_debugger();
static Ref<BTInstance> create(Ref<BTTask> p_root_task, String p_source_bt_path, Node *p_owner_node);
BTInstance() = default;
~BTInstance();
};
#endif // BT_INSTANCE_H