repeat_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
3 *
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12 */
13 
15 
16 namespace BT
17 {
18 constexpr const char* RepeatNode::NUM_CYCLES;
19 
20 RepeatNode::RepeatNode(const std::string& name, unsigned int NTries)
21  : DecoratorNode(name, {{NUM_CYCLES, std::to_string(NTries)}}),
22  num_cycles_(NTries),
23  try_index_(0),
25 {
26  setRegistrationName("Repeat");
27 }
28 
29 RepeatNode::RepeatNode(const std::string& name, const NodeParameters& params)
30  : DecoratorNode(name, params),
31  try_index_(0),
33 {
36  {
38  {
39  throw std::runtime_error("Missing parameter [num_cycles] in RepeatNode");
40  }
41  }
42 }
43 
45 {
47  {
49  {
50  throw std::runtime_error("Missing parameter [num_cycles] in RepeatNode");
51  }
52  }
53 
55  NodeStatus child_state = child_node_->executeTick();
56 
57  switch (child_state)
58  {
60  {
61  try_index_++;
62  if (try_index_ >= num_cycles_)
63  {
64  try_index_ = 0;
65  return (NodeStatus::SUCCESS);
66  }
67  }
68  break;
69 
71  {
72  try_index_ = 0;
73  return (NodeStatus::FAILURE);
74  }
75 
77  {
78  return (NodeStatus::RUNNING);
79  }
80 
81  default:
82  {
83  // TODO throw?
84  }
85  }
86  return status();
87 }
88 
90 {
91  try_index_ = 0;
93 }
94 
95 }
BT::optional< T > getParam(const std::string &key) const
Definition: tree_node.h:117
unsigned try_index_
Definition: repeat_node.h:39
const std::string & name() const
Definition: tree_node.cpp:92
void setRegistrationName(const std::string &registration_name)
registrationName() is set by the BehaviorTreeFactory
Definition: tree_node.cpp:113
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
RepeatNode(const std::string &name, unsigned int NTries)
Definition: repeat_node.cpp:20
static constexpr const char * NUM_CYCLES
Definition: repeat_node.h:42
TreeNode * child_node_
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
unsigned num_cycles_
Definition: repeat_node.h:38
virtual NodeStatus tick() override
Method to be implemented by the user.
Definition: repeat_node.cpp:44
void halt() override
The method used to interrupt the execution of a RUNNING node.
Definition: repeat_node.cpp:89
bool read_parameter_from_blackboard_
Definition: repeat_node.h:41
NodeStatus status() const
Definition: tree_node.cpp:75
NodeStatus
Definition: basic_types.h:28
static bool isBlackboardPattern(StringView str)
Definition: tree_node.cpp:127
virtual BT::NodeStatus executeTick()
The method that will be executed to invoke tick(); and setStatus();.
Definition: tree_node.cpp:35
std::basic_string< CharT, Traits > to_string(basic_string_view< CharT, Traits > v)
void setStatus(NodeStatus new_status)
Definition: tree_node.cpp:43


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:32