Servo Bot Automation

Class: BaseNode

BaseNode

The BaseNode class is used as super class to all nodes in Servo. It comprises all common variables and methods that a node must have to execute. *Do not inherit from this class, use `Composite`, `Decorator`, `Action` or `Condition`, instead. The attributes are specially designed to serialization of the node in a JSON format. In special, the `parameters` attribute can be set into the visual editor (thus, in the JSON file), and it will be used as parameter on the node initialization at `BehaviorTree.load`. BaseNode also provide 5 lifecycle callback methods, which the node implementations can override. They are `enter`, `open`, `tick`, `close` and `exit`. See their documentation to know more. These callbacks are called inside the `_execute` method, which is called in the tree traversal. All leaf nodes timeouts after runningTimeoutSec, and closes with a failure until maxRetriesNumber reached, upon which it returns error. Question composite node AskAndMap has its own timeout behavior

new BaseNode( [id])

initalize the node and its id. members are initialized for default values.
Parameters:
Name Type Argument Description
id string <optional>

Members

category :string

Node category. Must be `b3.COMPOSITE`, `b3.DECORATOR`, `b3.ACTION` `b3.CONDITION` or b3.MLMODEL. This is defined automatically be inheriting the correspondent class.
Type:
  • string

contextManager :ContextManager

ContextManager reference. Defaults to null if no context manager on this node
Type:
  • ContextManager

description :string

Type:
  • string

id :string

Node Id (typically a GUID)
Type:
  • string

name :string

Node name. Must be a unique identifier, preferable the same name of the class. You have to set the node name in the prototype.
Type:
  • string

parameters :Object

A dictionary (key, value) describing the node parameters. Useful for defining parameter values in the visual editor. Note: this is only useful for nodes when loading trees from JSON files.
Type:
  • Object

properties :Object

editor node properties
Type:
  • Object

Methods

<protected> _close(tick [, status])

Wrapper for close method.
Parameters:
Name Type Argument Description
tick Tick A tick instance.
status TickStatus <optional>

_closeMe(tick [, status])

closes the node
Parameters:
Name Type Argument Description
tick Tick
status TickStatus <optional>

<protected> _enter(tick)

Wrapper for enter method.
Parameters:
Name Type Description
tick Tick A tick instance.

<protected> _execute(tick)

This is the main method to propagate the tick signal to this node. This method calls all callbacks: `enter`, `open`, `tick`, `close`, and `exit`. It only opens a node if it is not already open. In the same way, this method only close a node if the node returned a status different of `b3.RUNNING()`.
Parameters:
Name Type Description
tick Tick A tick instance.
Returns:
The tick state.
Type
TickStatus

<protected> _exit(tick)

Wrapper for exit method.
Parameters:
Name Type Description
tick Tick A tick instance.

<protected> _open(tick)

Wrapper for open method.
Parameters:
Name Type Description
tick Tick A tick instance.

<protected> _tick(tick)

Wrapper for tick method.
Parameters:
Name Type Description
tick Tick A tick instance.
Returns:
A state constant.
Type
TickStatus

alldata(tick, compositeFieldName,, fieldValue)

Parameters:
Name Type Argument Description
tick Tick
compositeFieldName, string <nullable>
 a field name composed of . eg context.myname
fieldValue string <nullable>

assert(tick, cond, message)

assert the condition and present node's summary and message if false
Parameters:
Name Type Description
tick Tick
cond Boolean
message string

clearAllContexts(tick)

clear all the sibling contexts of this node
Parameters:
Name Type Description
tick Tick

clearContext(tick)

find the direct context of this node and clear it
Parameters:
Name Type Description
tick Tick

closeAllContexts(tick)

find the current context and close its children
Parameters:
Name Type Description
tick *

collectContextsUpToRoot(tick)

returns an object that is a merge between all contexts up to the root lower context members override the upper ones
Parameters:
Name Type Description
tick Tick

context(tick [, key] [, value])

sets context data. pass only tick to get all context mem pass explicit null key to replace data all with value
Parameters:
Name Type Argument Default Description
tick Tick
key string <optional>
 null
value string <optional>
 null if non-null, sets the value

contextProperties()

Returns:
Type
Array

countMatchingEntities(tick, msgObj, curCtxParam)

if already haas a context selected, give search the **curent** context by the entities override if the search needs to be different
Parameters:
Name Type Description
tick Tick
msgObj MessageModel
curCtxParam Object
Returns:
- match counter
Type
number

createParentTick(tick)

create a new tick object that is relevant to the tree ABOVE this node
Parameters:
Name Type Description
tick Tick

debugLog(tick, status)

logger function to run if debug-log is truthy
Parameters:
Name Type Description
tick Tick
status TickStatus

enter(tick)

Enter method, override this to use. It is called every time a node is asked to execute, before the tick itself. if return undefined, will now enter into tick - disregarding the node
Parameters:
Name Type Description
tick Tick A tick instance.
Returns:
Type
void

error(tick, message, ex)

structured error report
Parameters:
Name Type Description
tick Tick
message *
ex *

findContextManagerEntities(tick)

Searches up to tree root and return the first contextManager entities found
Parameters:
Name Type Description
tick Tick
Returns:
Type
ContextManagerEntities

findCurrentWaitNode(tick, node)

find the last ticked leaf which decendent of this node
Parameters:
Name Type Description
tick Tick
node BaseNode
Returns:
Type
ContextManagerEntities

get(tick, property)

get volatile memory property for a RUNNING instance of THIS NODE
Parameters:
Name Type Description
tick Tick
property string

global(tick [, key] [, value])

get/set process data
Parameters:
Name Type Argument Default Description
tick Tick
key string <optional>
 null
value string <optional>
 null if non-null, sets the value

handleBreakpoint(tick, status, type)

Parameters:
Name Type Description
tick Tick
status TickStatus
type string

handleTimeout()

default timeout handling

imageDataArrayName()

returns the memory field name for an array object that contains data for the images
Returns:
Type
Array

images()

returns the properties.image or images
Returns:
Type
string

incrementRetries(tick)

increment number Retries
Parameters:
Name Type Description
tick Tick
Returns:
retries couont
Type
number

isLeaf()

node is a leaf?

isLeafTimeout(tick)

true if this is a leaf which timeouts (and we are not sitting on a breakpoint)
Parameters:
Name Type Description
tick Tick
Returns:
Type
boolean

isNodeTimeout(tick)

true if this node timeouted
Parameters:
Name Type Description
tick *
Returns:
Type
boolean

local(tick [, key] [, value])

set/get local node memory
Parameters:
Name Type Argument Default Description
tick Tick
key string <optional>
 null
value string | number <optional>
 null if non-null, sets the value

log(tick, text)

node log
Parameters:
Name Type Description
tick Tick
text string

message(tick [, property] [, value])

Parameters:
Name Type Argument Default Description
tick Tick
property string <optional>
 null
value string <optional>
 null if non-null, sets the value

open(tick)

Open method, override this to use. It is called only before the tick callback and only if the not isn't closed. Note: a node will be closed if it returned `b3.RUNNING()` in the tick.
Parameters:
Name Type Description
tick Tick A tick instance.

outputMessage(tick [, fieldName])

output the message base on process data
Parameters:
Name Type Argument Description
tick Tick
fieldName string <optional>
 use when building the prompt

parentEntities(tick)

return entities representing the parent;
Parameters:
Name Type Description
tick Tick
Returns:
ContextManagerEntities

payload()

returns properties.payload or undefined if empty
Returns:
Type
string

postConnect()

upon tree creation, this method is called after the node has been connected to its parents or children

prompt(fieldName)

returns the text prompt for the message out. properties.fieldName if any,otherwise properties.prompt
Parameters:
Name Type Description
fieldName string

removeTargets(tick)

remove target from context and tick
Parameters:
Name Type Description
tick Tick

resetTimeoutRetries(tick)

Parameters:
Name Type Description
tick *

safeOpen(tick)

open only if node is not opened
Parameters:
Name Type Description
tick Tick

searchTarget(tick)

Parameters:
Name Type Description
tick Tick
Returns:
tick target. its been unused at this time
Type
Target

set(tick, property, value)

set volatile memory property for a RUNNING instance of THIS NODE
Parameters:
Name Type Description
tick Tick
property string
value string | number

setVolatile()

set/get volatile memory property for a RUNNING instance of this node

summary(tick)

node details summary
Parameters:
Name Type Description
tick Tick

target(tick)

return the closest target object up the tree
Parameters:
Name Type Description
tick *

tickMessage(tick [, fieldName])

send a message method. output a message asynchrously
Parameters:
Name Type Argument Description
tick Tick
fieldName string <optional>
 to use when building a message. ,instead of prompt
Returns:
A state constant.
Type
TickStatus

validators()

a base node should have a title defines validation methods to execute at the editor; if one of them fails, a dashed red border is displayed for the node
Returns:
Type
Array.<Validator>

view()

return properties.view
Returns:
Type
string

volatile(tick, key [, value])

Volatile memory get/setter - memory will not persist beyond machine/running restart
Parameters:
Name Type Argument Description
tick Tick
key string
value string | number | Object <optional>

wait(fn, args [, timeoutMs])

executes fn until timeoutMs reached
Parameters:
Name Type Argument Default Description
fn function function to execute
args Array | Object arguments array
timeoutMs number <optional>
 30000 timeout interval

waitCode(tick [, retcode])

getter
Parameters:
Name Type Argument Description
tick Tick
retcode TickStatus <optional>