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sidebar_position 6
sidebar_label Switch Node

Switch Node

The SwitchNode is equivalent to a switch statement: it selects which child to execute based on the value of a blackboard variable.

Available variants: Switch2, Switch3, Switch4, Switch5, Switch6, where the number indicates how many case branches are supported.

A SwitchN node must have exactly N + 1 children: N case branches plus one default branch (always the last child).

Port Type Description
variable InputPort<string> The blackboard variable to compare against cases.
case_1 InputPort<string> Value to match for the 1st child.
case_2 InputPort<string> Value to match for the 2nd child.
... ... Additional cases up to N.

The variable value is compared to each case_N string in order. The child corresponding to the first match is executed. If no case matches, the last child (the default branch) is executed.

Comparison supports strings, integers, and doubles. Enum values registered via ScriptingEnumsRegistry are also supported.

<Switch3 variable="{robot_state}" case_1="IDLE" case_2="WORKING" case_3="ERROR">
    <HandleIdle/>          <!-- executed when robot_state == "IDLE" -->
    <HandleWorking/>       <!-- executed when robot_state == "WORKING" -->
    <HandleError/>         <!-- executed when robot_state == "ERROR" -->
    <HandleUnknownState/>  <!-- default: executed when no case matches -->
</Switch3>

If a previously matched child is RUNNING and the variable value changes on a subsequent tick, the running child is halted before the newly matched child is executed.

:::tip The same behavior can be achieved using multiple Sequences, Fallbacks, and Conditions, but Switch is more concise and readable. :::