Remove duplication related to IDLE

BehaviorTree · Jan 16, 2019 · 77d2aa7 · 77d2aa7
1 parent 7bbc567
commit 77d2aa7
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Showing 10 changed files with 37 additions and 37 deletions.
diff --git a/include/behaviortree_cpp/decorator_node.h b/include/behaviortree_cpp/decorator_node.h
@@ -31,6 +31,8 @@ class DecoratorNode : public TreeNode
     {
         return NodeType::DECORATOR;
     }
+
+    NodeStatus executeTick() override;
 };
 
 /**

diff --git a/include/behaviortree_cpp/decorators/force_failure_node.h b/include/behaviortree_cpp/decorators/force_failure_node.h
@@ -42,7 +42,6 @@ inline NodeStatus ForceFailureDecorator::tick()
         case NodeStatus::FAILURE:
         case NodeStatus::SUCCESS:
         {
-            child_node_->setStatus(NodeStatus::IDLE);
             return NodeStatus::FAILURE;
         }
 

diff --git a/include/behaviortree_cpp/decorators/force_success_node.h b/include/behaviortree_cpp/decorators/force_success_node.h
@@ -42,7 +42,6 @@ inline NodeStatus ForceSuccessDecorator::tick()
         case NodeStatus::FAILURE:
         case NodeStatus::SUCCESS:
         {
-            child_node_->setStatus(NodeStatus::IDLE);
             return NodeStatus::SUCCESS;
         }
 

diff --git a/include/behaviortree_cpp/decorators/repeat_node.h b/include/behaviortree_cpp/decorators/repeat_node.h
@@ -41,8 +41,11 @@ class RepeatNode : public DecoratorNode
     bool read_parameter_from_blackboard_;
     static constexpr const char* NUM_CYCLES = "num_cycles";
 
-    virtual BT::NodeStatus tick() override;
+    virtual NodeStatus tick() override;
+
+    void halt() override;
 };
+
 }
 
 #endif
diff --git a/src/decorator_node.cpp b/src/decorator_node.cpp
@@ -67,4 +67,16 @@ NodeStatus SimpleDecoratorNode::tick()
 {
     return tick_functor_(child()->executeTick(), *this);
 }
+
+NodeStatus DecoratorNode::executeTick()
+{
+    NodeStatus status = TreeNode::executeTick();
+    NodeStatus child_status =child()->status();
+    if( child_status == NodeStatus::SUCCESS || child_status == NodeStatus::FAILURE )
+    {
+        child()->setStatus(NodeStatus::IDLE);
+    }
+    return status;
+}
+
 }
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
@@ -30,23 +30,18 @@ NodeStatus InverterNode::tick()
     {
         case NodeStatus::SUCCESS:
         {
-            setStatus(NodeStatus::FAILURE);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return NodeStatus::FAILURE;
         }
-        break;
 
         case NodeStatus::FAILURE:
         {
-            setStatus(NodeStatus::SUCCESS);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return NodeStatus::SUCCESS;
         }
-        break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return NodeStatus::RUNNING;
         }
-        break;
 
         default:
         {

diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
@@ -61,33 +61,35 @@ NodeStatus RepeatNode::tick()
             try_index_++;
             if (try_index_ >= num_cycles_)
             {
-                setStatus(NodeStatus::SUCCESS);
                 try_index_ = 0;
+                return (NodeStatus::SUCCESS);
             }
-            child_node_->setStatus(NodeStatus::IDLE);
         }
         break;
 
         case NodeStatus::FAILURE:
         {
             try_index_ = 0;
-            setStatus(NodeStatus::FAILURE);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return (NodeStatus::FAILURE);
         }
-        break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return (NodeStatus::RUNNING);
         }
-        break;
 
         default:
         {
             // TODO throw?
         }
     }
-
     return status();
 }
+
+void RepeatNode::halt()
+{
+    try_index_ = 0;
+    DecoratorNode::halt();
+}
+
 }
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
@@ -65,28 +65,24 @@ NodeStatus RetryNode::tick()
         case NodeStatus::SUCCESS:
         {
             try_index_ = 0;
-            setStatus(NodeStatus::SUCCESS);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return (NodeStatus::SUCCESS);
         }
-        break;
 
         case NodeStatus::FAILURE:
         {
             try_index_++;
             if (try_index_ >= max_attempts_)
             {
                 try_index_ = 0;
-                setStatus(NodeStatus::FAILURE);
+                return (NodeStatus::FAILURE);
             }
-            child_node_->setStatus(NodeStatus::IDLE);
         }
         break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return (NodeStatus::RUNNING);
         }
-        break;
 
         default:
         {
@@ -96,4 +92,5 @@ NodeStatus RetryNode::tick()
 
     return status();
 }
+
 }
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
@@ -14,14 +14,6 @@ BT::NodeStatus BT::DecoratorSubtreeNode::tick()
     {
         setStatus(NodeStatus::RUNNING);
     }
-    auto status = child_node_->executeTick();
-    setStatus(status);
-
-    // reset child if completed
-    if( status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE)
-    {
-        child_node_->setStatus(NodeStatus::IDLE);
-    }
-    return status;
+    return child_node_->executeTick();
 }
 
diff --git a/src/decorators/timeout_node.cpp b/src/decorators/timeout_node.cpp
@@ -54,7 +54,6 @@ NodeStatus TimeoutNode::tick()
                 if (!aborted && child()->status() == NodeStatus::RUNNING)
                 {
                     child()->halt();
-                    child()->setStatus(NodeStatus::IDLE);
                     child_halted_ = true;
                 }
             });
@@ -70,12 +69,12 @@ NodeStatus TimeoutNode::tick()
         auto child_status = child()->executeTick();
         if (child_status != NodeStatus::RUNNING)
         {
-            child()->setStatus(NodeStatus::IDLE);
             timer().cancel(timer_id_);
         }
         setStatus(child_status);
     }
 
     return status();
 }
+
 }