retry_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
3 *
4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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8 *
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12 */
13 
15 
16 namespace BT
17 {
18 constexpr const char* RetryNode::NUM_ATTEMPTS;
19 
20 RetryNode::RetryNode(const std::string& name, unsigned int NTries)
21  : DecoratorNode(name, {{NUM_ATTEMPTS, std::to_string(NTries)}}),
22  max_attempts_(NTries),
23  try_index_(0),
25 {
26  setRegistrationName("RetryUntilSuccesful");
27 }
28 
29 RetryNode::RetryNode(const std::string& name, const NodeParameters& params)
30  : DecoratorNode(name, params),
31  try_index_(0),
33 {
36  {
38  {
39  throw std::runtime_error("Missing parameter [num_attempts] in RetryNode");
40  }
41  }
42 }
43 
45 {
46  try_index_ = 0;
48 }
49 
51 {
53  {
55  {
56  throw std::runtime_error("Missing parameter [num_attempts] in RetryNode");
57  }
58  }
59 
61  NodeStatus child_state = child_node_->executeTick();
62 
63  switch (child_state)
64  {
66  {
67  try_index_ = 0;
68  return (NodeStatus::SUCCESS);
69  }
70 
72  {
73  try_index_++;
75  {
76  try_index_ = 0;
77  return (NodeStatus::FAILURE);
78  }
79  }
80  break;
81 
83  {
84  return (NodeStatus::RUNNING);
85  }
86 
87  default:
88  {
89  // TODO throw?
90  }
91  }
92 
93  return status();
94 }
95 
96 }
BT::optional< T > getParam(const std::string &key) const
Definition: tree_node.h:117
unsigned int try_index_
Definition: retry_node.h:41
const std::string & name() const
Definition: tree_node.cpp:92
void setRegistrationName(const std::string &registration_name)
registrationName() is set by the BehaviorTreeFactory
Definition: tree_node.cpp:113
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
RetryNode(const std::string &name, unsigned int NTries)
Definition: retry_node.cpp:20
bool read_parameter_from_blackboard_
Definition: retry_node.h:43
TreeNode * child_node_
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
static constexpr const char * NUM_ATTEMPTS
Definition: retry_node.h:44
unsigned int max_attempts_
Definition: retry_node.h:40
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
Definition: retry_node.cpp:44
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
Definition: retry_node.cpp:50
NodeStatus status() const
Definition: tree_node.cpp:75
NodeStatus
Definition: basic_types.h:28
static bool isBlackboardPattern(StringView str)
Definition: tree_node.cpp:127
virtual BT::NodeStatus executeTick()
The method that will be executed to invoke tick(); and setStatus();.
Definition: tree_node.cpp:35
std::basic_string< CharT, Traits > to_string(basic_string_view< CharT, Traits > v)
void setStatus(NodeStatus new_status)
Definition: tree_node.cpp:43


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:32