reactive_fallback.cpp

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/* Copyright (C) 2020 Davide Faconti, Eurecat -  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_v3/controls/reactive_fallback.h"

namespace BT
{

NodeStatus ReactiveFallback::tick()
{
    size_t failure_count = 0;

    for (size_t index = 0; index < childrenCount(); index++)
    {
        TreeNode* current_child_node = children_nodes_[index];
        const NodeStatus child_status = current_child_node->executeTick();

        switch (child_status)
        {
            case NodeStatus::RUNNING:
            {
                for(size_t i=index+1; i < childrenCount(); i++)
                {
                    haltChild(i);
                }
                return NodeStatus::RUNNING;
            }

            case NodeStatus::FAILURE:
            {
                failure_count++;
            }break;

            case NodeStatus::SUCCESS:
            {
                haltChildren();
                return NodeStatus::SUCCESS;
            }

            case NodeStatus::IDLE:
            {
                throw LogicError("A child node must never return IDLE");
            }
        }   // end switch
    } //end for

    if( failure_count == childrenCount() )
    {
        haltChildren();
        return NodeStatus::FAILURE;
    }

    return NodeStatus::RUNNING;
}

}