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/controls/fallback_node.h" 00015 #include "behaviortree_cpp/action_node.h" 00016 namespace BT 00017 { 00018 00019 FallbackNode::FallbackNode(const std::string& name) 00020 : ControlNode::ControlNode(name, {} ) 00021 ,current_child_idx_(0) 00022 { 00023 setRegistrationID("Fallback"); 00024 } 00025 00026 NodeStatus FallbackNode::tick() 00027 { 00028 const size_t children_count = children_nodes_.size(); 00029 00030 setStatus(NodeStatus::RUNNING); 00031 00032 while (current_child_idx_ < children_count) 00033 { 00034 TreeNode* current_child_node = children_nodes_[current_child_idx_]; 00035 const NodeStatus child_status = current_child_node->executeTick(); 00036 00037 switch (child_status) 00038 { 00039 case NodeStatus::RUNNING: 00040 { 00041 return child_status; 00042 } 00043 case NodeStatus::SUCCESS: 00044 { 00045 haltChildren(0); 00046 current_child_idx_ = 0; 00047 return child_status; 00048 } 00049 case NodeStatus::FAILURE: 00050 { 00051 current_child_idx_++; 00052 } 00053 break; 00054 00055 case NodeStatus::IDLE: 00056 { 00057 throw LogicError("A child node must never return IDLE"); 00058 } 00059 } // end switch 00060 } // end while loop 00061 00062 // The entire while loop completed. This means that all the children returned FAILURE. 00063 if (current_child_idx_ == children_count) 00064 { 00065 haltChildren(0); 00066 current_child_idx_ = 0; 00067 } 00068 00069 return NodeStatus::FAILURE; 00070 } 00071 00072 void FallbackNode::halt() 00073 { 00074 current_child_idx_ = 0; 00075 ControlNode::halt(); 00076 } 00077 00078 }