sequence_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
3 *
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13 
15 
16 namespace BT
17 {
18 SequenceNode::SequenceNode(const std::string& name, bool make_async)
19  : ControlNode::ControlNode(name, {}), current_child_idx_(0), asynch_(make_async)
20 {
21  if(asynch_)
22  setRegistrationID("AsyncSequence");
23  else
24  setRegistrationID("Sequence");
25 }
26 
28 {
31 }
32 
34 {
35  const size_t children_count = children_nodes_.size();
36 
37  if(status() == NodeStatus::IDLE)
38  {
39  skipped_count_ = 0;
40  }
41 
43 
44  while(current_child_idx_ < children_count)
45  {
46  TreeNode* current_child_node = children_nodes_[current_child_idx_];
47 
48  auto prev_status = current_child_node->status();
49  const NodeStatus child_status = current_child_node->executeTick();
50 
51  switch(child_status)
52  {
53  case NodeStatus::RUNNING: {
54  return NodeStatus::RUNNING;
55  }
56  case NodeStatus::FAILURE: {
57  // Reset on failure
58  resetChildren();
60  return child_status;
61  }
62  case NodeStatus::SUCCESS: {
64  // Return the execution flow if the child is async,
65  // to make this interruptable.
66  if(asynch_ && requiresWakeUp() && prev_status == NodeStatus::IDLE &&
67  current_child_idx_ < children_count)
68  {
70  return NodeStatus::RUNNING;
71  }
72  }
73  break;
74 
75  case NodeStatus::SKIPPED: {
76  // It was requested to skip this node
79  }
80  break;
81 
82  case NodeStatus::IDLE: {
83  throw LogicError("[", name(), "]: A children should not return IDLE");
84  }
85  } // end switch
86  } // end while loop
87 
88  // The entire while loop completed. This means that all the children returned SUCCESS.
89  if(current_child_idx_ == children_count)
90  {
91  resetChildren();
93  }
94  // Skip if ALL the nodes have been skipped
95  return (skipped_count_ == children_count) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
96 }
97 
98 } // namespace BT
BT
Definition: ex01_wrap_legacy.cpp:29
BT::TreeNode::requiresWakeUp
bool requiresWakeUp() const
Definition: tree_node.cpp:434
BT::SequenceNode::SequenceNode
SequenceNode(const std::string &name, bool make_async=false)
Definition: sequence_node.cpp:18
BT::TreeNode::emitWakeUpSignal
void emitWakeUpSignal()
Notify that the tree should be ticked again()
Definition: tree_node.cpp:426
BT::SequenceNode::current_child_idx_
size_t current_child_idx_
Definition: sequence_node.h:44
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::LogicError
Definition: exceptions.h:45
BT::TreeNode::status
NodeStatus status() const
Definition: tree_node.cpp:285
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:160
BT::NodeStatus::SKIPPED
@ SKIPPED
BT::SequenceNode::skipped_count_
size_t skipped_count_
Definition: sequence_node.h:45
BT::SequenceNode::asynch_
bool asynch_
Definition: sequence_node.h:46
BT::SequenceNode::tick
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
Definition: sequence_node.cpp:33
BT::TreeNode::name
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:302
BT::NodeStatus::SUCCESS
@ SUCCESS
BT::NodeStatus::RUNNING
@ RUNNING
BT::SequenceNode::halt
virtual void halt() override
Definition: sequence_node.cpp:27
BT::NodeStatus::IDLE
@ IDLE
sequence_node.h
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 Dec 13 2024 03:19:17