00001 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved 00002 * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00005 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00006 * 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: 00007 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00008 * 00009 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00010 * 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, 00011 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00012 */ 00013 00014 #include "behaviortree_cpp/control_node.h" 00015 00016 namespace BT 00017 { 00018 ControlNode::ControlNode(const std::string& name, const NodeConfiguration& config) 00019 : TreeNode::TreeNode(name, config) 00020 { 00021 } 00022 00023 void ControlNode::addChild(TreeNode* child) 00024 { 00025 children_nodes_.push_back(child); 00026 } 00027 00028 unsigned ControlNode::childrenCount() const 00029 { 00030 return unsigned(children_nodes_.size()); 00031 } 00032 00033 void ControlNode::halt() 00034 { 00035 haltChildren(0); 00036 setStatus(NodeStatus::IDLE); 00037 } 00038 00039 const std::vector<TreeNode*>& ControlNode::children() const 00040 { 00041 return children_nodes_; 00042 } 00043 00044 void ControlNode::haltChildren(unsigned i) 00045 { 00046 for (size_t j = i; j < children_nodes_.size(); j++) 00047 { 00048 auto child = children_nodes_[j]; 00049 if (child->status() == NodeStatus::RUNNING) 00050 { 00051 child->halt(); 00052 } 00053 child->setStatus(NodeStatus::IDLE); 00054 } 00055 } 00056 00057 } // end namespace