fallback_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018-2020 Davide Faconti, Eurecat - All Rights Reserved
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13 
15 
16 namespace BT
17 {
18 FallbackNode::FallbackNode(const std::string& name, bool make_asynch)
19  : ControlNode::ControlNode(name, {})
20  , current_child_idx_(0)
21  , all_skipped_(true)
22  , asynch_(make_asynch)
23 {
24  if(asynch_)
25  setRegistrationID("AsyncFallback");
26  else
27  setRegistrationID("Fallback");
28 }
29 
31 {
32  const size_t children_count = children_nodes_.size();
33 
34  if(status() == NodeStatus::IDLE)
35  {
36  all_skipped_ = true;
37  }
38 
40 
41  while(current_child_idx_ < children_count)
42  {
43  TreeNode* current_child_node = children_nodes_[current_child_idx_];
44 
45  auto prev_status = current_child_node->status();
46  const NodeStatus child_status = current_child_node->executeTick();
47 
48  // switch to RUNNING state as soon as you find an active child
49  all_skipped_ &= (child_status == NodeStatus::SKIPPED);
50 
51  switch(child_status)
52  {
53  case NodeStatus::RUNNING: {
54  return child_status;
55  }
56  case NodeStatus::SUCCESS: {
57  resetChildren();
59  return child_status;
60  }
61  case NodeStatus::FAILURE: {
63  // Return the execution flow if the child is async,
64  // to make this interruptable.
65  if(asynch_ && requiresWakeUp() && prev_status == NodeStatus::IDLE &&
66  current_child_idx_ < children_count)
67  {
69  return NodeStatus::RUNNING;
70  }
71  }
72  break;
73  case NodeStatus::SKIPPED: {
74  // It was requested to skip this node
76  }
77  break;
78  case NodeStatus::IDLE: {
79  throw LogicError("[", name(), "]: A children should not return IDLE");
80  }
81  } // end switch
82  } // end while loop
83 
84  // The entire while loop completed. This means that all the children returned FAILURE.
85  if(current_child_idx_ == children_count)
86  {
87  resetChildren();
89  }
90 
91  // Skip if ALL the nodes have been skipped
93 }
94 
96 {
99 }
100 
101 } // namespace BT
BT
Definition: ex01_wrap_legacy.cpp:29
BT::TreeNode::requiresWakeUp
bool requiresWakeUp() const
Definition: tree_node.cpp:428
BT::TreeNode::emitWakeUpSignal
void emitWakeUpSignal()
Notify that the tree should be ticked again()
Definition: tree_node.cpp:420
BT::TreeNode::executeTick
virtual BT::NodeStatus executeTick()
The method that should be used to invoke tick() and setStatus();.
Definition: tree_node.cpp:71
BT::TreeNode
Abstract base class for Behavior Tree Nodes.
Definition: tree_node.h:118
BT::ControlNode::children_nodes_
std::vector< TreeNode * > children_nodes_
Definition: control_node.h:24
BT::ControlNode::resetChildren
void resetChildren()
Definition: control_node.cpp:38
BT::FallbackNode::halt
virtual void halt() override
Definition: fallback_node.cpp:95
BT::LogicError
Definition: exceptions.h:45
fallback_node.h
BT::TreeNode::status
NodeStatus status() const
Definition: tree_node.cpp:279
BT::NodeStatus::FAILURE
@ FAILURE
BT::TreeNode::setStatus
void setStatus(NodeStatus new_status)
setStatus changes the status of the node. it will throw if you try to change the status to IDLE,...
Definition: tree_node.cpp:154
BT::NodeStatus::SKIPPED
@ SKIPPED
BT::FallbackNode::current_child_idx_
size_t current_child_idx_
Definition: fallback_node.h:42
BT::TreeNode::name
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:296
BT::NodeStatus::SUCCESS
@ SUCCESS
BT::NodeStatus::RUNNING
@ RUNNING
BT::FallbackNode::FallbackNode
FallbackNode(const std::string &name, bool make_asynch=false)
Definition: fallback_node.cpp:18
BT::FallbackNode::tick
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
Definition: fallback_node.cpp:30
BT::NodeStatus::IDLE
@ IDLE
BT::FallbackNode::asynch_
bool asynch_
Definition: fallback_node.h:44
BT::FallbackNode::all_skipped_
bool all_skipped_
Definition: fallback_node.h:43
BT::ControlNode::halt
virtual void halt() override
Definition: control_node.cpp:32
BT::ControlNode
Definition: control_node.h:21
BT::NodeStatus
NodeStatus
Definition: basic_types.h:33


behaviortree_cpp_v4
Author(s): Davide Faconti
autogenerated on Fri Jun 28 2024 02:20:07