negation_node.cpp

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/* Copyright (C) 2015-2017 Michele Colledanchise - 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 <decorators/negation_node.h>
#include <string>

BT::NegationNode::NegationNode(std::string name) : DecoratorNode::DecoratorNode(name) {}

BT::NegationNode::~NegationNode() {}

BT::ReturnStatus BT::NegationNode::Tick()
{
    {
        // gets the number of children. The number could change if, at runtime, one edits the tree.
        N_of_children_ = children_nodes_.size();

        if (N_of_children_ > 0)
        {
            if (children_nodes_[0]->get_type() == BT::ACTION_NODE)
            {
                child_i_status_ = children_nodes_[0]->get_status();

                if (child_i_status_ == BT::IDLE || child_i_status_ == BT::HALTED)
                {
                    DEBUG_STDOUT(get_name() << "NEEDS TO TICK " << children_nodes_[0]->get_name());
                    children_nodes_[0]->tick_engine.Tick();

                    // waits for the tick to arrive to the child
                    do
                    {
                        child_i_status_ = children_nodes_[0]->get_status();
                        std::this_thread::sleep_for(std::chrono::milliseconds(10));
                    }
                    while (child_i_status_ != BT::RUNNING && child_i_status_ != BT::SUCCESS && child_i_status_ != BT::FAILURE);
                }
            }
            else 
            {
                child_i_status_ = children_nodes_[0]->Tick();
            }

            if (child_i_status_ == BT::SUCCESS || child_i_status_ == BT::FAILURE)
            {
                children_nodes_[0]->set_status(BT::IDLE);
            }

            if (child_i_status_ != BT::FAILURE)
            {
                HaltChildren(1);
            }

            set_status(convert(child_i_status_));
            return convert(child_i_status_);
        } 
    }
    return BT::EXIT;
}

BT::ReturnStatus BT::NegationNode::convert(BT::ReturnStatus input)    {
    switch(input)   {
        case BT::SUCCESS : return BT::FAILURE;
        case BT::FAILURE : return BT::SUCCESS;
        default : return input;
    }
}