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_fallback.h" 00014 00015 namespace BT 00016 { 00017 00018 NodeStatus ReactiveFallback::tick() 00019 { 00020 size_t failure_count = 0; 00021 00022 for (size_t index = 0; index < childrenCount(); index++) 00023 { 00024 TreeNode* current_child_node = children_nodes_[index]; 00025 const NodeStatus child_status = current_child_node->executeTick(); 00026 00027 switch (child_status) 00028 { 00029 case NodeStatus::RUNNING: 00030 { 00031 haltChildren(index+1); 00032 return NodeStatus::RUNNING; 00033 } 00034 00035 case NodeStatus::FAILURE: 00036 { 00037 failure_count++; 00038 }break; 00039 00040 case NodeStatus::SUCCESS: 00041 { 00042 haltChildren(0); 00043 return NodeStatus::SUCCESS; 00044 } 00045 00046 case NodeStatus::IDLE: 00047 { 00048 throw LogicError("A child node must never return IDLE"); 00049 } 00050 } // end switch 00051 } //end for 00052 00053 if( failure_count == childrenCount() ) 00054 { 00055 haltChildren(0); 00056 return NodeStatus::FAILURE; 00057 } 00058 00059 return NodeStatus::RUNNING; 00060 } 00061 00062 } 00063