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/sequence_node.h" 00015 #include "behaviortree_cpp/action_node.h" 00016 00017 namespace BT 00018 { 00019 00020 00021 SequenceNode::SequenceNode(const std::string& name) 00022 : ControlNode::ControlNode(name, {} ) 00023 , current_child_idx_(0) 00024 { 00025 setRegistrationID("Sequence"); 00026 } 00027 00028 void SequenceNode::halt() 00029 { 00030 current_child_idx_ = 0; 00031 ControlNode::halt(); 00032 } 00033 00034 NodeStatus SequenceNode::tick() 00035 { 00036 const size_t children_count = children_nodes_.size(); 00037 00038 setStatus(NodeStatus::RUNNING); 00039 00040 while (current_child_idx_ < children_count) 00041 { 00042 TreeNode* current_child_node = children_nodes_[current_child_idx_]; 00043 const NodeStatus child_status = current_child_node->executeTick(); 00044 00045 switch (child_status) 00046 { 00047 case NodeStatus::RUNNING: 00048 { 00049 return child_status; 00050 } 00051 case NodeStatus::FAILURE: 00052 { 00053 // Reset on failure 00054 haltChildren(0); 00055 current_child_idx_ = 0; 00056 return child_status; 00057 } 00058 case NodeStatus::SUCCESS: 00059 { 00060 current_child_idx_++; 00061 } 00062 break; 00063 00064 case NodeStatus::IDLE: 00065 { 00066 throw LogicError("A child node must never return IDLE"); 00067 } 00068 } // end switch 00069 } // end while loop 00070 00071 // The entire while loop completed. This means that all the children returned SUCCESS. 00072 if (current_child_idx_ == children_count) 00073 { 00074 haltChildren(0); 00075 current_child_idx_ = 0; 00076 } 00077 return NodeStatus::SUCCESS; 00078 } 00079 00080 }