sequence_star_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.
*
*   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_v3/controls/sequence_star_node.h"

namespace BT
{
SequenceStarNode::SequenceStarNode(const std::string& name) :
  ControlNode::ControlNode(name, {}), current_child_idx_(0)
{
  setRegistrationID("SequenceStar");
}

NodeStatus SequenceStarNode::tick()
{
  const size_t children_count = children_nodes_.size();

  setStatus(NodeStatus::RUNNING);

  while (current_child_idx_ < children_count)
  {
    TreeNode* current_child_node = children_nodes_[current_child_idx_];
    const NodeStatus child_status = current_child_node->executeTick();

    switch (child_status)
    {
      case NodeStatus::RUNNING: {
        return child_status;
      }
      case NodeStatus::FAILURE: {
        // DO NOT reset current_child_idx_ on failure
        for (size_t i = current_child_idx_; i < childrenCount(); i++)
        {
          haltChild(i);
        }

        return child_status;
      }
      case NodeStatus::SUCCESS: {
        current_child_idx_++;
      }
      break;

      case NodeStatus::IDLE: {
        throw LogicError("A child node must never return IDLE");
      }
    }   // end switch
  }     // end while loop

  // The entire while loop completed. This means that all the children returned SUCCESS.
  if (current_child_idx_ == children_count)
  {
    resetChildren();
    current_child_idx_ = 0;
  }
  return NodeStatus::SUCCESS;
}

void SequenceStarNode::halt()
{
  current_child_idx_ = 0;
  ControlNode::halt();
}

}   // namespace BT