retry_node.cpp

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2020 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.
*
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*   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_v3/decorators/retry_node.h"

namespace BT
{
constexpr const char* RetryNode::NUM_ATTEMPTS;

RetryNode::RetryNode(const std::string& name, int NTries) :
  DecoratorNode(name, {}),
  max_attempts_(NTries),
  try_count_(0),
  read_parameter_from_ports_(false)
{
  setRegistrationID("RetryUntilSuccessful");
}

RetryNode::RetryNode(const std::string& name, const NodeConfiguration& config) :
  DecoratorNode(name, config),
  max_attempts_(0),
  try_count_(0),
  read_parameter_from_ports_(true)
{}

void RetryNode::halt()
{
  try_count_ = 0;
  DecoratorNode::halt();
}

NodeStatus RetryNode::tick()
{
  if (read_parameter_from_ports_)
  {
    if (!getInput(NUM_ATTEMPTS, max_attempts_))
    {
      throw RuntimeError("Missing parameter [", NUM_ATTEMPTS, "] in RetryNode");
    }
  }

  setStatus(NodeStatus::RUNNING);

  while (try_count_ < max_attempts_ || max_attempts_ == -1)
  {
    NodeStatus child_state = child_node_->executeTick();
    switch (child_state)
    {
      case NodeStatus::SUCCESS: {
        try_count_ = 0;
        resetChild();
        return (NodeStatus::SUCCESS);
      }

      case NodeStatus::FAILURE: {
        try_count_++;
        resetChild();
      }
      break;

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

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

  try_count_ = 0;
  return NodeStatus::FAILURE;
}

}   // namespace BT