parallel_node.cpp

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018 Davide Faconti -  All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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*/

#include "behaviortree_cpp/controls/parallel_node.h"

namespace BT
{

constexpr const char* ParallelNode::THRESHOLD_KEY;

ParallelNode::ParallelNode(const std::string& name, int threshold)
  : ControlNode::ControlNode(name, {{THRESHOLD_KEY, std::to_string(threshold)}}),
    threshold_(threshold),
    read_parameter_from_blackboard_(false)
{
    setRegistrationName("Parallel");
}

ParallelNode::ParallelNode(const std::string &name,
                               const NodeParameters &params)
    : ControlNode::ControlNode(name, params),
      read_parameter_from_blackboard_(false)
{
    read_parameter_from_blackboard_ = isBlackboardPattern( params.at(THRESHOLD_KEY) );
    if(!read_parameter_from_blackboard_)
    {
        if( !getParam(THRESHOLD_KEY, threshold_) )
        {
            throw std::runtime_error("Missing parameter [threshold] in ParallelNode");
        }
    }
}

NodeStatus ParallelNode::tick()
{
    if(read_parameter_from_blackboard_)
    {
        if( !getParam(THRESHOLD_KEY, threshold_) )
        {
            throw std::runtime_error("Missing parameter [threshold] in ParallelNode");
        }
    }

    success_childred_num_ = 0;
    failure_childred_num_ = 0;
    // Vector size initialization. children_count_ could change at runtime if you edit the tree
    const unsigned children_count = children_nodes_.size();

    // Routing the tree according to the sequence node's logic:
    for (unsigned int i = 0; i < children_count; i++)
    {
        TreeNode* child_node = children_nodes_[i];

        NodeStatus child_status = child_node->executeTick();

        switch (child_status)
        {
            case NodeStatus::SUCCESS:
                child_node->setStatus(NodeStatus::IDLE);
                // the child goes in idle if it has returned success.
                if (++success_childred_num_ == threshold_)
                {
                    success_childred_num_ = 0;
                    failure_childred_num_ = 0;
                    haltChildren(0);   // halts all running children. The execution is done.
                    return child_status;
                }
                break;
            case NodeStatus::FAILURE:
                child_node->setStatus(NodeStatus::IDLE);
                // the child goes in idle if it has returned failure.
                if (++failure_childred_num_ > children_count - threshold_)
                {
                    success_childred_num_ = 0;
                    failure_childred_num_ = 0;
                    haltChildren(0);   // halts all running children. The execution is hopeless.
                    return child_status;
                }
                break;
            case NodeStatus::RUNNING:
                setStatus(child_status);
                break;
            default:
                break;
        }
    }
    return NodeStatus::RUNNING;
}

void ParallelNode::halt()
{
    success_childred_num_ = 0;
    failure_childred_num_ = 0;
    ControlNode::halt();
}

unsigned int ParallelNode::thresholdM()
{
    return threshold_;
}

void ParallelNode::setThresholdM(unsigned int threshold_M)
{
    threshold_ = threshold_M;
}

}