inverter_node.cpp

Go to the documentation of this file.

/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2019 Davide Faconti, Eurecat -  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/decorators/inverter_node.h"

namespace BT
{
InverterNode::InverterNode(const std::string& name) :
    DecoratorNode(name, {} )
{
    setRegistrationID("AlwaysSuccess");
}

NodeStatus InverterNode::tick()
{
    setStatus(NodeStatus::RUNNING);

    const NodeStatus child_state = child_node_->executeTick();

    switch (child_state)
    {
        case NodeStatus::SUCCESS:
        {
            return NodeStatus::FAILURE;
        }

        case NodeStatus::FAILURE:
        {
            return NodeStatus::SUCCESS;
        }

        case NodeStatus::RUNNING:
        {
            return NodeStatus::RUNNING;
        }

        default:
        {
            throw LogicError("A child node must never return IDLE");
        }
    }
    //return status();
}

}