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decorator_node.cpp
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88 lines (75 loc) · 2.7 KB
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/* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved
* Copyright (C) 2018-2025 Davide Faconti, Eurecat - All Rights Reserved
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* 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:
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* 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,
* 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/decorator_node.h"
namespace BT
{
DecoratorNode::DecoratorNode(const std::string& name, const NodeConfig& config)
: TreeNode::TreeNode(name, config), child_node_(nullptr)
{}
void DecoratorNode::setChild(TreeNode* child)
{
if(child_node_ != nullptr)
{
throw BehaviorTreeException("Decorator [", name(), "] has already a child assigned");
}
child_node_ = child;
}
void DecoratorNode::halt()
{
resetChild();
resetStatus(); // might be redundant
}
const TreeNode* DecoratorNode::child() const
{
return child_node_;
}
TreeNode* DecoratorNode::child()
{
return child_node_;
}
void DecoratorNode::haltChild()
{
resetChild();
}
void DecoratorNode::resetChild()
{
if(child_node_ == nullptr)
{
return;
}
if(child_node_->status() == NodeStatus::RUNNING)
{
child_node_->haltNode();
}
child_node_->resetStatus();
}
SimpleDecoratorNode::SimpleDecoratorNode(const std::string& name,
TickFunctor tick_functor,
const NodeConfig& config)
: DecoratorNode(name, config), tick_functor_(std::move(tick_functor))
{}
NodeStatus SimpleDecoratorNode::tick()
{
return tick_functor_(child()->executeTick(), *this);
}
NodeStatus DecoratorNode::executeTick()
{
const NodeStatus status = TreeNode::executeTick();
const NodeStatus child_status = child()->status();
if(child_status == NodeStatus::SUCCESS || child_status == NodeStatus::FAILURE)
{
child()->resetStatus();
}
return status;
}
} // namespace BT