Workflow creation method and apparatus

A workflow creation apparatus comprising:

• a graphical user interface (GUI) allowing a user to perform a first operation of constructing a functional block model and a second operation of nesting a behavior tree into a second functional block in the functional block model, wherein the behavior tree is used to define a third operation to be executed by a first workcell, and a workflow is used to define a fourth operation to be executed by a second workcell;
• at least one processor programmed to:
• receive a fifth operation performed by the user on the GUI constructing a behavior tree;
• receive a sixth operation performed by the user on the GUI nesting a functional block model into a first leaf node in the behavior tree, wherein the functional block model defines a seventh operation to be executed by a first workcell and the behavior tree defines a eighth operation to be executed by a second workcell;
• in response to a ninth operation performed by the user on the GUI, trigger, at a parent node connected to the first leaf node, a first execution signal to the first leaf node, and the first leaf node triggers a start event to start execution of the functional block model;
• control execution of the functional block model in the first leaf node, according to a status of the first leaf node by the parent node within one propagation cycle of a second execution signal of the behavior tree;
• after the first leaf node outputs an execution result, the first leaf node triggers a corresponding output event to the parent node according to the execution result;
• generate an instance of the behavior tree;
• wherein controlling execution of the functional block model in the first leaf node, according to a status of triggering of the first leaf node by the parent node within one propagation cycle of third execution signal of the behavior tree, comprises:
• when the parent node does not trigger a fourth execution signal to the first leaf node within one propagation cycle of an execution signal of the behavior tree, the functional block model in the first leaf node pauses execution, until the first leaf node is triggered with a fifth execution signal by the parent node again, and the functional block model continues execution;
• and
• the at least one processor is further programmed to control execution/pausing of execution of the functional block model in the first leaf node according to the status of triggering/not triggering the first leaf node by the parent node within one propagation cycle of an execution signal of the behavior tree.