#include <u.h>#include <libc.h> #include "bt.h"#include "impl.h" static voidcancelleaf(BehaviorNode *node, BehaviorState *bs, void *agent){	BehaviorLeafState *state; 	USED(agent); 	state = btstatefor(node, bs);	state->node.status = TASKFRESH;} static voidcancelbranch(BehaviorNode *node, BehaviorState *bs, void *agent){	int i;	BehaviorBranch *branch;	BehaviorBranchState *state;	BehaviorNode *child; 	branch = (BehaviorBranch*)node;	state = btstatefor(node, bs); 	for(i = 0; i < branch->childcount; i++){		child = branch->children[i];		btcancel(child, bs, agent);	} 	if(node->type == BT_DYNGUARD)		state->childcurrent = -1;	else		state->childcurrent = 0; 	state->node.status = TASKFRESH;} static void (*cancelfns[])(BehaviorNode*, BehaviorState*, void*) = {[BT_LEAF]		cancelleaf,[BT_SEQUENCE]	cancelbranch,[BT_PRIORITY]	cancelbranch,[BT_PARALLEL]	cancelbranch,[BT_DYNGUARD]	cancelbranch,[BT_INVERT]		cancelbranch,}; voidbtcancel(BehaviorNode *node, BehaviorState *bs, void *agent){	if(node->guard != nil)		btcancel(node->guard, bs, agent); 	cancelfns[node->type](node, bs, agent);}