enum {	TASKFRESH	= 0,	TASKRUNNING,	TASKFAIL,	TASKSUCCESS,	TASKMAX,}; extern char *btstatenames[TASKMAX]; /* BehaviorAction is a leaf function. * * ctx - per-leaf context * v - data passed to bttick */typedef int (*BehaviorAction)(void *ctx, void *v); typedef struct Behavior Behavior;#pragma incomplete Behavior typedef struct BehaviorState BehaviorState;#pragma incomplete BehaviorState typedef struct BehaviorNode BehaviorNode;#pragma incomplete BehaviorNode Behavior *btnew();Behavior *btroot(BehaviorNode *root);BehaviorState *btstatenew(Behavior*);void btstatefree(BehaviorState*, void *agent); /* btleaf creates a new BehaviorNode leaf. * * name - string name, used for debugging * action - BehaviorAction function called when ticked * ctx - per-leaf context passed to action */BehaviorNode *btleaf(char *name, BehaviorAction action, void *ctx); /* control flow */BehaviorNode *btsequence(char*, ...);BehaviorNode *btpriority(char*, ...);BehaviorNode *btparallel(char*, int, int, ...);BehaviorNode *btdynguard(char*, ...); /* add child to one of the above */int btaddbranch(BehaviorNode*, BehaviorNode*); /* decorators */BehaviorNode *btinvert(char*, BehaviorNode*); /* set guard function for node */void btsetguard(BehaviorNode*, BehaviorNode*); /* set end function for a node */void btsetend(BehaviorNode*, void (*)(void*)); void btfreenode(BehaviorNode*);void btfree(Behavior*);int bttick(Behavior*, BehaviorState*, void*); /* %T */int btfmt(Fmt *f);