bounds checking in instance method

BehaviorTree · Apr 16, 2022 · a36ca05 · a36ca05
1 parent fd4763c
commit a36ca05
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/include/behaviortree_cpp_v3/controls/parallel_node.h b/include/behaviortree_cpp_v3/controls/parallel_node.h
@@ -41,12 +41,12 @@ class ParallelNode : public ControlNode
 
     unsigned int thresholdM();
     unsigned int thresholdFM();
-    void setThresholdM(unsigned int threshold_M);
-    void setThresholdFM(unsigned int threshold_M);
+    void setThresholdM(int threshold_M);
+    void setThresholdFM(int threshold_M);
 
   private:
-    unsigned int success_threshold_;
-    unsigned int failure_threshold_;
+    int success_threshold_;
+    int failure_threshold_;
 
     std::set<int> skip_list_;
 

diff --git a/src/controls/parallel_node.cpp b/src/controls/parallel_node.cpp
@@ -11,6 +11,9 @@
 *   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.
 */
 
+#include <algorithm>
+#include <cstddef>
+
 #include "behaviortree_cpp_v3/controls/parallel_node.h"
 
 namespace BT
@@ -145,23 +148,23 @@ void ParallelNode::halt()
 unsigned int ParallelNode::thresholdM()
 {
     return success_threshold_ < 0
-      ? children_nodes_.size() + success_threshold_ + 1
+      ? std::max(children_nodes_.size() + success_threshold_ + 1, static_cast<std::size_t>(0))
       : success_threshold_;
 }
 
 unsigned int ParallelNode::thresholdFM()
 {
     return failure_threshold_ < 0
-      ? children_nodes_.size() + success_threshold_ + 1
+      ? std::max(children_nodes_.size() + success_threshold_ + 1, static_cast<std::size_t>(0))
       : failure_threshold_;
 }
 
-void ParallelNode::setThresholdM(unsigned int threshold_M)
+void ParallelNode::setThresholdM(int threshold_M)
 {
     success_threshold_ = threshold_M;
 }
 
-void ParallelNode::setThresholdFM(unsigned int threshold_M)
+void ParallelNode::setThresholdFM(int threshold_M)
 {
     failure_threshold_ = threshold_M;
 }