fallback_node.cpp

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018 Davide Faconti -  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,
*   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.
*/

#include "behaviortree_cpp/controls/fallback_node.h"

namespace BT
{
FallbackNode::FallbackNode(const std::string& name)
  : ControlNode::ControlNode(name, NodeParameters())
{
    setRegistrationName("Fallback");
}

NodeStatus FallbackNode::tick()
{
    // gets the number of children. The number could change if, at runtime, one edits the tree.
    const unsigned children_count = children_nodes_.size();

    // Routing the ticks according to the fallback node's logic:

    setStatus(NodeStatus::RUNNING);

    for (unsigned index = 0; index < children_count; index++)
    {
        TreeNode* child_node = children_nodes_[index];
        const NodeStatus child_status = child_node->executeTick();

        switch (child_status)
        {
            case NodeStatus::RUNNING:
            {
                return child_status;
            }
            case NodeStatus::SUCCESS:
            {
                haltChildren(0);
                return child_status;
            }
            case NodeStatus::FAILURE:
            {
                // continue;
            }
            break;

            case NodeStatus::IDLE:
            {
                throw std::runtime_error("This is not supposed to happen");
            }
        }   // end switch
    }       // end for loop

    haltChildren(0);
    return NodeStatus::FAILURE;
}
}