Design · Rule-Based Behavior Graph Abstraction

Graph : public Node

• properties
• name
• type
• enabled
• states
• current iteration
• total iteration
• time
• terminated
• <Node*>
• <Var*>
• scope: graph, nodes
• category: tool, AI, device, robot, peripheral

Requirements

• start (only 1), end (automatic if a node has no next), transit, branch, merge, loop, subgraph
• can find from a lookup table any variable in the graph

---

Canvas : public Graph

• <Var*>
• scope: graph, subgraphs, nodes

        %% https://github.com/JakeSteam/Mermaid
        graph LR

        Start((Start)):::start --> N0
        classDef start fill:#ffd8a7, color:#000, stroke:#919191

        N0 --> N1 --> | branch | N2
        N1 --> N3
        N2 --> | merge | N4
        N3 --> N4 --> N5

        N5 --> N6 --> N7 --> | loop | N5
        N7 --> Subgraph

        subgraph Subgraph[N8 - Subgraph]
        S-Start((Start)):::start --> S-N1 --> S-N2
        end

        Subgraph --> N9 & N10
        N10 --> N11 --> Parallel --> N13

        subgraph Parallel[N12 - Parallel]
        P-N1([P-N1]) -.- P-N2([P-N2])
        end

    

Node

• properties
• name
• type
• enabled
• states
• time
• terminated
• variables
• <Input Var>
• <State Var>
• <Output Var>
• <Transition>
• target
• Condition*
• <Expression*>
• Var = Operate(TYPE, Var, ...)
• var = Operate(ASSIGN, var1)
• var = Operate(ADD, var1, var2)
• var = Operate(MULTIPLY, var1, var2, var3, ...)
• ...
• Controller
• <Task*>
• goals, constraints, specifications from <Input Var> or other <Var>
• functions
• OnStart()
• update Controller
• update <Input Var>
• OnRunning()
• update Controller
• update <State Var>
• check <Transition>
• OnFinish()
• update Controller
• update <Output Var>
• evaluate <Expression>

namespace utility {

enum class Type {
    kEqual,
    kLess, kGreater,
    kLessOrEqual, kGreaterOrEqual,
    kAnd, kOr,
};

} // namespace utility

class Condition
{
public:
    virtual bool Triggered() = 0;
    Type type_;
    Var* left_var_, right_var_;
};

class ConditionEqual : public Condition {};
class ConditionLess : public Condition {};
class ConditionGreater : public Condition {};
class ConditionLessOrEqual : public Condition {};
class ConditionGreaterOrEqual : public Condition {};

class ConditionNested : public Condition
{
public:
    // https://en.cppreference.com/w/cpp/language/abstract_class
    virtual bool Triggered() override = 0;
protected:
    std::vector<Condition*> conditions_;
};

class ConditionAnd : public ConditionNested {};
class ConditionOr : public ConditionNested {};