repeat_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved
3 *
4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
5 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
6 * 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:
7 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
8 *
9 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
10 * 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,
11 * 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.
12 */
13 
15 
16 namespace BT
17 {
18 constexpr const char* RepeatNode::NUM_CYCLES;
19 
20 RepeatNode::RepeatNode(const std::string& name, int NTries)
21  : DecoratorNode(name, {} ),
22  num_cycles_(NTries),
23  try_index_(0),
25 {
26  setRegistrationID("Repeat");
27 }
28 
30  : DecoratorNode(name, config),
31  num_cycles_(0),
32  try_index_(0),
34 {
35 
36 }
37 
39 {
41  {
43  {
44  throw RuntimeError("Missing parameter [", NUM_CYCLES, "] in RepeatNode");
45  }
46  }
47 
49 
50  while (try_index_ < num_cycles_ || num_cycles_== -1 )
51  {
52  NodeStatus child_state = child_node_->executeTick();
53 
54  switch (child_state)
55  {
57  {
58  try_index_++;
59  }
60  break;
61 
63  {
64  try_index_ = 0;
65  return (NodeStatus::FAILURE);
66  }
67 
69  {
70  return NodeStatus::RUNNING;
71  }
72 
73  default:
74  {
75  throw LogicError("A child node must never return IDLE");
76  }
77  }
78  }
79 
80  try_index_ = 0;
81  return NodeStatus::SUCCESS;
82 }
83 
85 {
86  try_index_ = 0;
88 }
89 
90 }
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:73
const NodeConfiguration & config() const
Definition: tree_node.cpp:99
virtual void halt() override
The method used to interrupt the execution of this node.
static constexpr const char * NUM_CYCLES
Definition: repeat_node.h:58
TreeNode * child_node_
virtual NodeStatus tick() override
Method to be implemented by the user.
Definition: repeat_node.cpp:38
RepeatNode(const std::string &name, int NTries)
Definition: repeat_node.cpp:20
Result getInput(const std::string &key, T &destination) const
Definition: tree_node.h:185
void halt() override
The method used to interrupt the execution of this node.
Definition: repeat_node.cpp:84
void setRegistrationID(StringView ID)
Definition: tree_node.h:158
NodeStatus
Definition: basic_types.h:35
bool read_parameter_from_ports_
Definition: repeat_node.h:57
virtual BT::NodeStatus executeTick()
The method that should be used to invoke tick() and setStatus();.
Definition: tree_node.cpp:33
void setStatus(NodeStatus new_status)
Definition: tree_node.cpp:40


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Jun 8 2019 18:04:05