control_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,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include "behaviortree_cpp/control_node.h"

namespace BT
{
ControlNode::ControlNode(const std::string& name, const NodeParameters& parameters)
  : TreeNode::TreeNode(name, parameters)
{
    // TODO(...) In case it is desired to set to idle remove the ReturnStatus
    // type in order to set the member variable
    // ReturnStatus const NodeStatus child_status = NodeStatus::IDLE;  // commented out as unused
}

void ControlNode::addChild(TreeNode* child)
{
    //    Checking if the child is not already present
    //    for (auto node : children_nodes_)
    //    {
    //        if (node == child)
    //        {
    //            throw BehaviorTreeException("'" + child->name() + "' is already a '" + name() + "' child.");
    //        }
    //    }

    children_nodes_.push_back(child);
}

unsigned int ControlNode::childrenCount() const
{
    return children_nodes_.size();
}

void ControlNode::halt()
{
    haltChildren(0);
    setStatus(NodeStatus::IDLE);
}

const std::vector<TreeNode*>& ControlNode::children() const
{
    return children_nodes_;
}

void ControlNode::haltChildren(int i)
{
    for (unsigned int j = i; j < children_nodes_.size(); j++)
    {
        auto child = children_nodes_[j];
        if (child->status() == NodeStatus::RUNNING)
        {
            child->halt();
        }
        child->setStatus(NodeStatus::IDLE);
    }
}
}