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Remove traces of SequenceStar #690

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Merged
merged 1 commit into from
Nov 1, 2023
Merged

Remove traces of SequenceStar #690

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ list(APPEND BT_SOURCE
src/controls/reactive_sequence.cpp
src/controls/reactive_fallback.cpp
src/controls/sequence_node.cpp
src/controls/sequence_star_node.cpp
src/controls/sequence_with_memory_node.cpp
src/controls/switch_node.cpp
src/controls/while_do_else_node.cpp

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4 changes: 2 additions & 2 deletions examples/test_files/Check.xml
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@@ -1,10 +1,10 @@
<root>

<BehaviorTree ID="CheckStatus">
<SequenceStar>
<SequenceWithMemory>
<Action ID="CheckBattery"/>
<Action ID="CheckTemperature"/>
</SequenceStar>
</SequenceWithMemory>
</BehaviorTree>

</root>
4 changes: 2 additions & 2 deletions examples/test_files/subtrees/Talk.xml
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@@ -1,10 +1,10 @@
<root BTCPP_format="4">

<BehaviorTree ID="SayStuff">
<SequenceStar>
<SequenceWithMemory>
<Action ID="SaySomething" message="Hello World"/>
<Action ID="SayHello"/>
</SequenceStar>
</SequenceWithMemory>
</BehaviorTree>

</root>
2 changes: 1 addition & 1 deletion include/behaviortree_cpp/behavior_tree.h
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Expand Up @@ -19,7 +19,7 @@
#include "behaviortree_cpp/controls/reactive_fallback.h"
#include "behaviortree_cpp/controls/fallback_node.h"
#include "behaviortree_cpp/controls/sequence_node.h"
#include "behaviortree_cpp/controls/sequence_star_node.h"
#include "behaviortree_cpp/controls/sequence_with_memory_node.h"
#include "behaviortree_cpp/controls/switch_node.h"
#include "behaviortree_cpp/controls/if_then_else_node.h"
#include "behaviortree_cpp/controls/while_do_else_node.h"
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2 changes: 1 addition & 1 deletion ...iortree_cpp/controls/sequence_star_node.h → ..._cpp/controls/sequence_with_memory_node.h
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Expand Up @@ -18,7 +18,7 @@
namespace BT
{
/**
* @brief The SequenceStarNode is used to tick children in an ordered sequence.
* @brief The SequenceWithMemory is used to tick children in an ordered sequence.
* If any child returns RUNNING, previous children are not ticked again.
*
* - If all the children return SUCCESS, this node returns SUCCESS.
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4 changes: 2 additions & 2 deletions src/controls/sequence_star_node.cpp → src/controls/sequence_with_memory_node.cpp
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Expand Up @@ -11,14 +11,14 @@
* 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 "behaviortree_cpp/controls/sequence_star_node.h"
#include "behaviortree_cpp/controls/sequence_with_memory_node.h"

namespace BT
{
SequenceWithMemory::SequenceWithMemory(const std::string& name) :
ControlNode::ControlNode(name, {}), current_child_idx_(0)
{
setRegistrationID("SequenceStar");
setRegistrationID("SequenceWithMemory");
}

NodeStatus SequenceWithMemory::tick()
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4 changes: 2 additions & 2 deletions src/xml_parsing.cpp
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Expand Up @@ -432,8 +432,8 @@ void VerifyXML(const std::string& xml_text,
"attribute [ID]");
}
}
else if (name == "Sequence" || name == "SequenceStar" ||
name == "Fallback")
else if (name == "Sequence" || name == "ReactiveSequence" ||
name == "SequenceWithMemory" || name == "Fallback")
{
if (children_count == 0)
{
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8 changes: 4 additions & 4 deletions tests/navigation_test.cpp
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Expand Up @@ -15,16 +15,16 @@ static const char* xml_text = R"(
<Inverter>
<Condition ID="IsStuck"/>
</Inverter>
<SequenceStar name="navigate">
<SequenceWithMemory name="navigate">
<Action ID="ComputePathToPose"/>
<Action ID="FollowPath"/>
</SequenceStar>
</SequenceWithMemory>
</ReactiveSequence>

<SequenceStar name="stuck_recovery">
<SequenceWithMemory name="stuck_recovery">
<Condition ID="IsStuck"/>
<Action ID="BackUpAndSpin"/>
</SequenceStar>
</SequenceWithMemory>

</Fallback>
</BehaviorTree>
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