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A behaviour tree library, developed for automating a computer game.

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# Betula

![banner](https://raw.githubusercontent.com/iwanders/betula/master/media/second_tick_tree.png)

This is a [behaviour](https://en.wikipedia.org/wiki/Behavior_tree_(artificial_intelligence,_robotics_and_control)) [tree](https://en.wikipedia.org/wiki/Birch) library.
It is created with the goal of automating a computer game, but the library itself should work for other use cases.

# Architecture

Overview of the crates in this workspace. Crates with nodes provide the `UiNode` implementation if the `betula_editor` feature is enabled.

Nodes are categorised into:
- Action: Nodes that perform an action: Pressing a key.
- Conditionals: Make a decision, usually based on a blackboard value and optionally internal state, often used as decorator: Checking if a window is focussed, add delay between executions.
- Control: Nodes that merely affect control flow: Selector node.
- Decorators: Decorators: Nodes that must be used as a decorator: Change return value, retry up to a duration.
- Providers: Provides blackboard value: Clock, screen capture, etc.

## betula_core
- Holds the traits for `Node` and `Tree`.
- The `basic` module holds the standard (non-event) implementation for a blackboard and a tree.
- Holds helpers for `Port`s and `BlackboardValue`.

## betula_common
Main components:
- `TreeSupport` to allow type-erased serialization and deserialization of the tree state (into/from `serde`).
- Control protocol to manipulate a tree.
- Server thread to allow running a tree in the background.

## betula_editor
A gui built on [egui](https://github.com/emilk/egui).

- Uses the control protocol from `betula_common`.
- `UiNode` trait that must be implemented for `Node`s to provide editor support.
- `BetulaViewer`, backed by [egui-snarl](https://github.com/zakarumych/egui-snarl).
- `UiSupport` that allows registering new nodes.
- `Editor`, an `eframe::App` that can be instantiated.
- `UiNode` implementation for `betula_common` and `betula_core`.
- Also provides ui support for the nodes from `betula_core`.
- Shift+drag to (de)select nodes, selected nodes can be moved together.

Nodes' directory is set to the directory in which the current tree file resides. This is considered the `PROJECT` directory, there can of course
be multiple `json` files in the root of this directory, reusing assets in the project directory.

## betula_demo
- Application that instantiates an editor with all nodes that exist in the workspace.

## betula_std
A collection of standard nodes, that don't have any additional dependencies.

#### Nodes
Provider:
  - `TimeNode`: Write the unix time to a blackboard as `f64`.
  - `StatusWriteNode`: Writes the execution status of the child node to the blackboard.
  - `StringWriteNode`: Writes a fixed string to the blackboard.

Conditional:
  - `DelayNode`: Delays execution of the child node with the specified interval.
  - `StatusReadNode`: Reads an execution status off the blackboard and returns this, regardless of the optional child's status.
  - `IfTimeExceedsNode`: Compares whether one time exceeds another time by a value.

Control:
  - `ParallelNode`: A node that executes all children and determines status based on their return, may resume running nodes from previous cycle.
  - `SelectorNode`: Executes in order, returns first non-`Failure`, may resume from previous cycle.
  - `SequenceNode`: Executes in order, returns first non-`Success`, may resume from the previous cycle, may retry failed nodes.
  - `IfThenElseNode`: Runs the first child to decide whether to run the second (or optional third), may remember the branching statement from previous cycle.

Decorators:
  - `SuccessNode`: Always returns `Success`, may be a decorator.
  - `RunningNode`: Always returns `Running`, may be a decorator.
  - `FailureNode`: Always returns `Failure`, may be a decorator.
  - `RetryNode`: Retries a node up to a specified time limit, turning failure into running while the time limit is not reached.
  - `IfEnumNode<T: IfEnumNodeEnum>`: Generic node that allows `==` and `!=` with an enum from the blackboard. Maybe be a decorator.
  - `BlockResetNode`: Blocks propagation of node reset, may be helpful if a node is reachable through two paths.
  - `NegateNode`: Negates the execution status of its one child node, turning `Success` into `Failure` and `Failure` into `Success`.
  - `ForceSuccessNode`: Turns `Failure` into `Success` and passes `Running` through unmodified.

## betula_enigo
Betula nodes for [enigo](https://crates.io/crates/enigo): `Cross platform input simulation in Rust`.

- `EnigoInstanceNode`: Provides an `Enigo` instance to the blackboard.
- `EnigoCursorNode`: Provides the position of the cursor to the blackboard.
- `EnigoNode`: Sends `Enigo::Token` to the `Enigo` instance to simulate events. 
- `CursorScannerNode`: Moves the cursor in a spiral pattern around the specified coordinates, more of an example node.

The `EnigoNode` can load presets from files.
- All `toml` files in the `PROJECT/enigo_node/` directory are parsed.
- Filename is ignored.
- Tables can be used to specify where in the preset menu the entry exists.
- Modifying the actions that are shown when a preset is selected decouples from the preset, but keeps the actions.

For example:
```toml
[GameMenu.Difficulty.Normal]
description="Click Normal difficulty."
actions = [
    {MoveMouse = [950, 450, "Abs"]},
    {Button = ["Left", "Click"]}
]
```
This preset will create a preset named `Normal` in the `GameMenu`'s `Difficulty` submenu. This preset
contains two actions, an absolute mouse move to `950,450`, followed by a left mouse button click.

The actions are a list of [enigo::Token](https://docs.rs/enigo/latest/enigo/agent/enum.Token.html) entries.

## betula_wm
Pertains itself to information obtained from the window manager, contains the `betula_wm` example which can be used to
retrieve the binary based on the current focus.

- `WindowFocusNode`: Returns `Success` if the regex matches the binary that created the window that has focus.

## betula_hotkey
Facilitates detecting hotkeys (without the editor being focussed).
For x11, this relies on the [global_hotkey](https://crates.io/crates/global-hotkey) crate.
On Windows, this uses a self-built low level hook, such that it can detect events without blocking them.

- `HotkeyInstanceNode`: Provides an `Hotkey` instance for registering hotkeys.
  - `HotkeyNode`: Returns `Success` if the hotkey is depressed or toggled.

## betula_image
Provides the `Image` blackboard type, which is effectively an `Arc<crate::RgbaImage>`, so copying them is cheap and they can be kept around.

### ImageCaptureNode
This facilitates capturing (parts) of the screen on both Windows and Linux. It produces `Image` values when executed. The actual capturing happens in a background thread that runs independently of the tree.

It uses my [screen_capture](https://github.com/iwanders/screen_capture) crate, which efficiently captures the
desktop's framebuffer (including fullscreen applications). The framebuffer is `BGRA` format, but this is efficiently
converted to `RGBA`, which allows using the `image::RgbaImage` as a data type. This crate and the `screen_capture`
crate are best compiled with `rustflags='-C target-feature=+avx2'` which ensures they utilise SIMD instructions for
the color space conversion.

The outputs `capture_time` and `capture_duration` are optional.

#### ImageCaptureCursorNode
If the crate is compiled with the `betula_enigo` feature, the `ImageCaptureCursorNode` is also created.

This node is a superset of the `ImageCaptureNode` and can capture the cursor position at the exact time the threaded capturer starts the screen capture, ensuring that the cursor position is captured at the moment of screen capture.

This node also features a callback mechanism (setup through the blackboard) that allows other nodes to register a callback when new frames are available. This happens in the background, regardless of whether the blackboard is running. This is useful if the screen state and cursor needs to be processed, but one still wishes to configure through the editor.

#### ImageWriteCursorNode
If the crate is compiled with the `betula_enigo` feature, the `ImageCaptureCursorNode` is also created. It is the example consumer for the callbacks provided by the `ImageCaptureCursorNode`.

Whenever this node is executed, the frame save counter is set to the value as specified in the configuration, and - if not yet configured -  a callback is registered.

While the counter is not zero, this node writes the frames and their sidecar json files (that hold cursor position) to the disk. This happens asynchronously, regardless of whether the blackboard is being ticket.

Frames are always saved as `png`, the `{c}` string is replaced with the frame counter (since the start of the capturer), the `{t}` string is replaced with the unix timestamp in ms.

### ImageMatchNode
This node can match a pattern against an input image. Checking against a pattern happens when the node is executed, as such make the patterns as minimal as possible. This node returns `Success` if the pattern matches, `Failure` otherwise.

This node may be a decorator, in which case it returns `Failure` if the pattern doesn't match, or the child node's return if it does.

- Patterns are read from the the `PROJECT/image_match/` directory.
- Subdirectories may exist, their name is used as submenu entry.
- Patterns must be `png` images, for example `masked_Screenshot407.png`.
- The image dimensions must *exactly* match the input image dimensions.
- Transparent pixels in the pattern are ignored in the input image.
- A pattern matches if all non transparent pixels in the pattern are identical in the input image.
- A sidecar `toml` file (`masked_Screenshot407.toml`) may exist with the following keys:
  - `name`: Used as a display name in the ui, and used for sorting.
  - `description`: Used for mouseover in the ui.

The `image_pattern` example can be used to create patterns quickly, (multiple) segments can be specified with `x,y,length`:
```
cargo r --example image_pattern -- create --output-dir Game/Left/ ${SCREENSHOTS}/Screenshot518.png  0,95,150 319,154,178  --filename cube --name "Cube" --description "The horadric cube is shown in the left panel."
```
The `image_pattern_match` example can be used to verify all files in the `image_match` directory load correctly. Coordinates match the ones in GIMP, select by color, combined with layer mask from selection makes it easy to identify useful pixels.

# Capture, cursors and coordinates.

In my setup, I have two 1080p monitors side by side, with the right monitor being the primary monitor in windows.

- Windows:
  - Top left corner of the right monitor is cursor position 0,0.
  - Bottom right corner of the right monitor is 1919,1079. 
  - Top left corner of left monitor is -1919,0.
- Linux:
  - Top left corner of the right monitor is cursor position 1920,0.
  - Bottom right corner of the right monitor is 3839,1079. 
  - Top left corner of left monitor is 0,1079.

## Normalisation
So to get platform agnostic capture & cursor coordinates for complete right monitor;

- Capture configuration has one rule with:
  - `match_width: 3840`  This ensures it only matches on linux.
  - `x_offset: 1920`
  - `width: 1920`
  - `height: 1080`
- Enigo Instance:
  - Delta Linux: `1920, 0`, Delta Windows: `0,0`

With this all cursors are expressed in the right monitor coordinate frame, and the right monitor is the only image captured.

## betula_overlay
This utilises my [screen_overlay](https://github.com/iwanders/screen_overlay) crate to overlay text on fullscreen applications.
This writes a string from the blackboard to the screen, the overlay is click through and transparent by default.

To work around [this issue](https://github.com/emilk/egui/issues/3632#issuecomment-3733528750), the overlay can now use a client/server architecture.
To use that, the editor needs to be compiled with
```
cargo r --release --features "overlay_client_server"
```

The daemon needs to be started from the `betula_overlay` crate with:
```
cargo r --release --bin overlay_daemon
```

This uses a very simple json-over-tcp rcp system, this does mean that it introduces additional delay in the execution of the behaviour tree.
Each change to the text results in a tcp connection being created, the rpc happening and the connection being closed again, this is blocking.

## Changes
Again, mostly for myself.
### v0.0.2 (master)
- Has forked egui-snarl updated to egui 0.33, 
- We are using the new `screen_overlay`, but it still doesn't work on Windows.
- All menu's autoclose when clicked, disabled this at the egui-snarl level for now, see [changelog entry for it](https://github.com/emilk/egui/blob/main/CHANGELOG.md#-improved-popups-tooltips-and-menus). `TODO-fix-menu-close`
- Multi-connection changing is broken.

### [v0.0.1](https://github.com/iwanders/betula/releases/tag/v0.0.1)
Last commit in the original development chain. Has the event  loop problem in the overlay, which is why that only works
on x11.

# License
License is [`BSD-3-Clause`](./LICENSE).

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