00001 /* Copyright (C) 2019 Davide Faconti, Eurecat - All Rights Reserved 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00004 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00005 * 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: 00006 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00007 * 00008 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00009 * 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, 00010 * 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. 00011 */ 00012 00013 #include "behaviortree_cpp/controls/reactive_sequence.h" 00014 00015 namespace BT 00016 { 00017 00018 NodeStatus ReactiveSequence::tick() 00019 { 00020 size_t success_count = 0; 00021 size_t running_count = 0; 00022 00023 for (size_t index = 0; index < childrenCount(); index++) 00024 { 00025 TreeNode* current_child_node = children_nodes_[index]; 00026 const NodeStatus child_status = current_child_node->executeTick(); 00027 00028 switch (child_status) 00029 { 00030 case NodeStatus::RUNNING: 00031 { 00032 running_count++; 00033 haltChildren(index+1); 00034 return NodeStatus::RUNNING; 00035 } 00036 00037 case NodeStatus::FAILURE: 00038 { 00039 haltChildren(0); 00040 return NodeStatus::FAILURE; 00041 } 00042 case NodeStatus::SUCCESS: 00043 { 00044 success_count++; 00045 }break; 00046 00047 case NodeStatus::IDLE: 00048 { 00049 throw LogicError("A child node must never return IDLE"); 00050 } 00051 } // end switch 00052 } //end for 00053 00054 if( success_count == childrenCount()) 00055 { 00056 haltChildren(0); 00057 return NodeStatus::SUCCESS; 00058 } 00059 return NodeStatus::RUNNING; 00060 } 00061 00062 00063 }