sequence_with_memory_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 {
19  : ControlNode::ControlNode(name, {}), current_child_idx_(0)
20 {
21  setRegistrationID("SequenceWithMemory");
22 }
23 
25 {
26  const size_t children_count = children_nodes_.size();
27 
28  if(status() == NodeStatus::IDLE)
29  {
30  skipped_count_ = 0;
31  }
33 
34  while(current_child_idx_ < children_count)
35  {
36  TreeNode* current_child_node = children_nodes_[current_child_idx_];
37 
38  auto prev_status = current_child_node->status();
39  const NodeStatus child_status = current_child_node->executeTick();
40 
41  switch(child_status)
42  {
43  case NodeStatus::RUNNING: {
44  return child_status;
45  }
46  case NodeStatus::FAILURE: {
47  // DO NOT reset current_child_idx_ on failure
48  for(size_t i = current_child_idx_; i < childrenCount(); i++)
49  {
50  haltChild(i);
51  }
52 
53  return child_status;
54  }
55  case NodeStatus::SUCCESS: {
57  // Return the execution flow if the child is async,
58  // to make this interruptable.
59  if(requiresWakeUp() && prev_status == NodeStatus::IDLE &&
60  current_child_idx_ < children_count)
61  {
63  return NodeStatus::RUNNING;
64  }
65  }
66  break;
67 
68  case NodeStatus::SKIPPED: {
69  // It was requested to skip this node
72  }
73  break;
74 
75  case NodeStatus::IDLE: {
76  throw LogicError("[", name(), "]: A children should not return IDLE");
77  }
78  } // end switch
79  } // end while loop
80 
81  // The entire while loop completed. This means that all the children returned SUCCESS.
82  if(current_child_idx_ == children_count)
83  {
84  resetChildren();
86  }
87  // Skip if ALL the nodes have been skipped
88  return (skipped_count_ == children_count) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
89 }
90 
92 {
93  // should we add this line of code or not?
94  // current_child_idx_ = 0;
96 }
97 
98 } // namespace BT
BT::SequenceWithMemory::SequenceWithMemory
SequenceWithMemory(const std::string &name)
Definition: sequence_with_memory_node.cpp:18
BT
Definition: ex01_wrap_legacy.cpp:29
BT::SequenceWithMemory::skipped_count_
size_t skipped_count_
Definition: sequence_with_memory_node.h:45
BT::ControlNode::childrenCount
size_t childrenCount() const
Definition: control_node.cpp:27
BT::TreeNode::requiresWakeUp
bool requiresWakeUp() const
Definition: tree_node.cpp:434
BT::TreeNode::emitWakeUpSignal
void emitWakeUpSignal()
Notify that the tree should be ticked again()
Definition: tree_node.cpp:426
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:131
sequence_with_memory_node.h
BT::SequenceWithMemory::tick
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
Definition: sequence_with_memory_node.cpp:24
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::SequenceWithMemory::current_child_idx_
size_t current_child_idx_
Definition: sequence_with_memory_node.h:44
BT::TreeNode::setRegistrationID
void setRegistrationID(StringView ID)
Definition: tree_node.cpp:439
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::SequenceWithMemory::halt
virtual void halt() override
Definition: sequence_with_memory_node.cpp:91
BT::ControlNode::haltChild
void haltChild(size_t i)
Definition: control_node.cpp:55
BT::NodeStatus::RUNNING
@ RUNNING
BT::NodeStatus::IDLE
@ IDLE
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 Feb 28 2025 03:19:19