repeat_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/decorators/repeat_node.h"
 
namespace BT
{
constexpr const char* RepeatNode::NUM_CYCLES;
 
RepeatNode::RepeatNode(const std::string& name, int NTries) :
  DecoratorNode(name, {}),
  num_cycles_(NTries),
  repeat_count_(0),
  read_parameter_from_ports_(false)
{
  setRegistrationID("Repeat");
}
 
RepeatNode::RepeatNode(const std::string& name, const NodeConfiguration& config) :
  DecoratorNode(name, config),
  num_cycles_(0),
  repeat_count_(0),
  read_parameter_from_ports_(true)
{}
 
NodeStatus RepeatNode::tick()
{
  if (read_parameter_from_ports_)
  {
    if (!getInput(NUM_CYCLES, num_cycles_))
    {
      throw RuntimeError("Missing parameter [", NUM_CYCLES, "] in RepeatNode");
    }
  }
 
  setStatus(NodeStatus::RUNNING);
 
  while (repeat_count_ < num_cycles_ || num_cycles_ == -1)
  {
    NodeStatus child_state = child_node_->executeTick();
 
    switch (child_state)
    {
      case NodeStatus::SUCCESS: {
        repeat_count_++;
        resetChild();
      }
      break;
 
      case NodeStatus::FAILURE: {
        repeat_count_ = 0;
        resetChild();
        return (NodeStatus::FAILURE);
      }
 
      case NodeStatus::RUNNING: {
        return NodeStatus::RUNNING;
      }
 
      default: {
        throw LogicError("A child node must never return IDLE");
      }
    }
  }
 
  repeat_count_ = 0;
  return NodeStatus::SUCCESS;
}
 
void RepeatNode::halt()
{
  repeat_count_ = 0;
  DecoratorNode::halt();
}
 
}   // namespace BT