Merge pull request #9 from mrchantey/dev

Patch

.gitignore

@@ -1,6 +1,5 @@
 assets
 /target/
 docs/book
-crates/beet_web/assets/scenes
 out.txt
 rustc-ice*

Cargo.toml

@@ -38,7 +38,7 @@ beet_ml = { workspace = true, optional = true }
 beet_net = { workspace = true, optional = true }
 
 [dev-dependencies]
-beet_examples.workspace = true # TODO cyclic dependency
+beet_examples.workspace = true
 bevy = { workspace = true, default-features = true }
 log.workspace = true
 pretty_env_logger.workspace = true
@@ -59,7 +59,7 @@ tokio.workspace = true
 ### WORKSPACE ################################################################################################z###########################
 
 [workspace.package]
-version = "0.0.3-rc.2"
+version = "0.0.3-rc.3"
 edition = "2021"
 description = "A very flexible AI behavior library for games and robotics."
 documentation = "https://beetmash.com/docs/beet"
@@ -89,21 +89,20 @@ members = [
 	"crates/beet_ml",
 	"crates/beet_net",
 	"crates/beet_server",
-	"crates/beet_web",
 	# "crates/cli",
 ]
 exclude = ["crates/beet_esp"]
 
 [workspace.dependencies]
 ## internal
-beet = { path = "./", version = "0.0.3-rc.2" }
-beet_core = { path = "crates/beet_core", version = "0.0.3-rc.2", default-features = false }
-beet_ecs = { path = "crates/beet_ecs", version = "0.0.3-rc.2" }
-beet_ecs_macros = { path = "crates/beet_ecs/macros", version = "0.0.3-rc.2" }
-beet_ml = { path = "crates/beet_ml", version = "0.0.3-rc.2" }
-beet_net = { path = "crates/beet_net", version = "0.0.3-rc.2" }
-beet_server = { path = "crates/beet_server", version = "0.0.3-rc.2" }
-beet_examples = { path = "crates/beet_examples", version = "0.0.3-rc.2" }
+beet = { path = "./", version = "0.0.3-rc.3" }
+beet_core = { path = "crates/beet_core", version = "0.0.3-rc.3", default-features = false }
+beet_ecs = { path = "crates/beet_ecs", version = "0.0.3-rc.3" }
+beet_ecs_macros = { path = "crates/beet_ecs/macros", version = "0.0.3-rc.3" }
+beet_ml = { path = "crates/beet_ml", version = "0.0.3-rc.3" }
+beet_net = { path = "crates/beet_net", version = "0.0.3-rc.3" }
+beet_server = { path = "crates/beet_server", version = "0.0.3-rc.3" }
+beet_examples = { path = "crates/beet_examples", version = "0.0.3-rc.3" }
 
 ## local
 # forky_core = { path = "../forky/crates/forky/forky_core" }

crates/beet_core/src/app/beet_plugin.rs → crates/beet_core/src/app/beet_plugins.rs

@@ -5,9 +5,9 @@ use bevy::prelude::*;
 
 /// Plugins used for most beet apps.
 #[derive(Default)]
-pub struct DefaultBeetPlugins;
+pub struct BeetPlugins;
 
-impl PluginGroup for DefaultBeetPlugins {
+impl PluginGroup for BeetPlugins {
 	fn build(self) -> PluginGroupBuilder {
 		#[allow(unused_mut)]
 		let mut builder = PluginGroupBuilder::start::<Self>()

crates/beet_core/src/app/mod.rs

@@ -1,3 +1,3 @@
-pub mod beet_plugin;
+pub mod beet_plugins;
 #[allow(unused_imports)]
-pub use self::beet_plugin::*;
+pub use self::beet_plugins::*;

crates/beet_core/src/movement/movement_plugin.rs

@@ -10,7 +10,6 @@ impl Plugin for MovementPlugin {
 		app.add_plugins(ActionPlugin::<(
 			Hover,
 			Translate,
-			SetAgentOnRun<Velocity>,
 		)>::default()).add_systems(
 			Update,
 			(

crates/beet_core/src/robotics/depth_sensor_scorer.rs

@@ -6,20 +6,20 @@ use bevy::prelude::*;
 #[derive(Debug, Clone, PartialEq, Component, Action, Reflect)]
 #[reflect(Default, Component, ActionMeta)]
 #[category(ActionCategory::Behavior)]
-#[systems(depth_sensor_scorer.in_set(TickSet))]
+#[observers(depth_sensor_scorer)]
 pub struct DepthSensorScorer {
 	// #[inspector(step = 0.1)]
 	pub threshold_dist: f32,
-	pub far_score: Score,
-	pub close_score: Score,
+	pub far_score: ScoreValue,
+	pub close_score: ScoreValue,
 }
 
 impl Default for DepthSensorScorer {
 	fn default() -> Self {
 		Self {
 			threshold_dist: 0.5,
-			far_score: Score::Fail,
-			close_score: Score::Pass,
+			far_score: score::FAIL,
+			close_score: score::PASS,
 		}
 	}
 }
@@ -34,19 +34,24 @@ impl DepthSensorScorer {
 }
 
 pub fn depth_sensor_scorer(
+	trigger: Trigger<RequestScore>,
+	mut commands: Commands,
 	sensors: Query<&DepthValue, Changed<DepthValue>>,
-	mut scorers: Query<(&TargetAgent, &DepthSensorScorer, &mut Score)>,
+	query: Query<(&TargetAgent, &DepthSensorScorer, &Parent)>,
 ) {
-	for (target, scorer, mut score) in scorers.iter_mut() {
-		if let Ok(depth) = sensors.get(**target) {
-			let next_score = if let Some(depth) = **depth
-				&& depth < scorer.threshold_dist
-			{
-				scorer.close_score
-			} else {
-				scorer.far_score
-			};
-			score.set_if_neq(next_score);
-		}
+	let (target, scorer, parent) = query
+		.get(trigger.entity())
+		.expect(expect_action::ACTION_QUERY_MISSING);
+	if let Ok(depth) = sensors.get(**target) {
+		let next_score = if let Some(depth) = **depth
+			&& depth < scorer.threshold_dist
+		{
+			scorer.close_score
+		} else {
+			scorer.far_score
+		};
+		commands
+			.entity(parent.get())
+			.trigger(OnChildScore::new(trigger.entity(), next_score));
 	}
 }

crates/beet_core/src/robotics/robotics_plugin.rs

@@ -8,15 +8,14 @@ pub struct RoboticsPlugin;
 impl Plugin for RoboticsPlugin {
 	fn build(&self, app: &mut App) {
 		app.add_plugins(ActionPlugin::<(
-			SetAgentOnRun<DualMotorValue>,
+			InsertOnTrigger<OnRun, DualMotorValue>,
 			DepthSensorScorer,
 		)>::default())
-		.register_type::<DepthValue>()
-		.register_type::<DualMotorValue>();
+			.register_type::<DepthValue>()
+			.register_type::<DualMotorValue>();
 
 		let world = app.world_mut();
 		world.init_bundle::<DepthValue>();
 		world.init_bundle::<DualMotorValue>();
-
 	}
 }

crates/beet_ecs/src/actions/flow/score_provider.rs

@@ -1,8 +1,15 @@
 use crate::prelude::*;
 use bevy::prelude::*;
-
 pub type ScoreValue = f32;
 
+pub mod score{
+    use super::flow::ScoreValue;
+	pub const FAIL: ScoreValue = 0.0;
+	pub const PASS: ScoreValue = 1.0;
+	pub const NEUTRAL: ScoreValue = 0.5;
+}
+
+
 /// A constant score provider.
 #[derive(Default, Deref, DerefMut, Component, Action, Reflect)]
 #[reflect(Default, Component)]
@@ -11,9 +18,9 @@ pub type ScoreValue = f32;
 pub struct ScoreProvider(pub ScoreValue);
 
 impl ScoreProvider {
-	pub const FAIL: ScoreProvider = ScoreProvider(0.0);
-	pub const PASS: ScoreProvider = ScoreProvider(1.0);
-	pub const NEUTRAL: ScoreProvider = ScoreProvider(0.5);
+	pub const FAIL: ScoreProvider = ScoreProvider(score::FAIL);
+	pub const PASS: ScoreProvider = ScoreProvider(score::PASS);
+	pub const NEUTRAL: ScoreProvider = ScoreProvider(score::NEUTRAL);
 
 	pub fn new(score: ScoreValue) -> Self { Self(score) }
 }

crates/beet_ecs/src/actions/misc/mod.rs

@@ -0,0 +1,15 @@
+pub mod empty_action;
+#[allow(unused_imports)]
+pub use self::empty_action::*;
+pub mod log_on_run;
+#[allow(unused_imports)]
+pub use self::log_on_run::*;
+pub mod repeat;
+#[allow(unused_imports)]
+pub use self::repeat::*;
+pub mod run_timer;
+#[allow(unused_imports)]
+pub use self::run_timer::*;
+pub mod trigger_in_duration;
+#[allow(unused_imports)]
+pub use self::trigger_in_duration::*;

crates/beet_ecs/src/actions/mod.rs

@@ -1,3 +1,7 @@
+pub mod action_types;
+#[allow(unused_imports)]
+pub use self::action_types::*;
 pub mod flow;
 pub mod global;
+pub mod misc;
 pub mod on_trigger;

crates/beet_ecs/src/actions/on_trigger/insert_on_trigger.rs

@@ -2,7 +2,6 @@ use crate::prelude::*;
 use bevy::prelude::*;
 use std::marker::PhantomData;
 
-
 pub type InsertOnTrigger<Event, Params, TriggerBundle = ()> =
 	InsertMappedOnTrigger<DefaultMapFunc<Event, Params, TriggerBundle>>;
 

crates/beet_ecs/src/actions/on_trigger/remove_on_trigger.rs

@@ -23,6 +23,7 @@ impl<E: Event, T: Bundle, TrigBundle: Bundle> OnTriggerHandler
 		_trigger: &Trigger<Self::Event, Self::TriggerBundle>,
 		(entity, comp): (Entity, &OnTrigger<Self>),
 	) {
+		// log::info!("RemoveOnTrigger: {:?}", std::any::type_name::<T>());
 		comp.target.remove::<T>(commands, entity);
 	}
 }