root_node removed in favour of a method. tickRoot() added

facontidavide · facontidavide · commit 3b893cb1ed33 · 2020-03-22T16:26:29.000+01:00
diff --git a/docs/tutorial_02_basic_ports.md b/docs/tutorial_02_basic_ports.md
@@ -204,7 +204,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     /*  Expected output:
 
diff --git a/docs/tutorial_03_generic_ports.md b/docs/tutorial_03_generic_ports.md
@@ -165,7 +165,7 @@ int main()
     factory.registerNodeType<PrintTarget>("PrintTarget");
 
     auto tree = factory.createTreeFromText(xml_text);
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
 /* Expected output:
 
diff --git a/docs/tutorial_04_sequence_star.md b/docs/tutorial_04_sequence_star.md
@@ -109,15 +109,15 @@ int main()
     NodeStatus status;
 
     std::cout << "\n--- 1st executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     SleepMS(150);
     std::cout << "\n--- 2nd executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     SleepMS(150);
     std::cout << "\n--- 3rd executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     std::cout << std::endl;
 
diff --git a/docs/tutorial_05_subtrees.md b/docs/tutorial_05_subtrees.md
@@ -88,28 +88,28 @@ int main()
     auto tree = factory.createTreeFromText(xml_text);
 
     // This logger prints state changes on console
-    StdCoutLogger logger_cout(tree.root_node);
+    StdCoutLogger logger_cout(tree.rootNode());
 
     // This logger saves state changes on file
-    FileLogger logger_file(tree.root_node, "bt_trace.fbl");
+    FileLogger logger_file(tree.rootNode(), "bt_trace.fbl");
     
     // This logger stores the execution time of each node
-    MinitraceLogger logger_minitrace(tree.root_node, "bt_trace.json");
+    MinitraceLogger logger_minitrace(tree.rootNode(), "bt_trace.json");
 
 #ifdef ZMQ_FOUND
     // This logger publish status changes using ZeroMQ. Used by Groot
     PublisherZMQ publisher_zmq(tree);
 #endif
 
-    printTreeRecursively(tree.root_node);
+    printTreeRecursively(tree.rootNode());
 
     //while (1)
     {
         NodeStatus status = NodeStatus::RUNNING;
         // Keep on ticking until you get either a SUCCESS or FAILURE state
         while( status == NodeStatus::RUNNING)
         {
-            status = tree.root_node->executeTick();
+            status = tree.tickRoot();
             CrossDoor::SleepMS(1);   // optional sleep to avoid "busy loops"
         }
         CrossDoor::SleepMS(2000);
diff --git a/docs/tutorial_06_subtree_ports.md b/docs/tutorial_06_subtree_ports.md
@@ -77,7 +77,7 @@ int main()
     // Keep on ticking until you get either a SUCCESS or FAILURE state
     while( status == NodeStatus::RUNNING)
     {
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         SleepMS(1);   // optional sleep to avoid "busy loops"
     }
 
diff --git a/docs/tutorial_07_legacy.md b/docs/tutorial_07_legacy.md
@@ -87,7 +87,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }
diff --git a/docs/tutorial_08_additional_args.md b/docs/tutorial_08_additional_args.md
@@ -137,7 +137,7 @@ int main()
         }
     }
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }
diff --git a/docs/tutorial_09_coroutines.md b/docs/tutorial_09_coroutines.md
@@ -148,7 +148,7 @@ int main()
 
     //---------------------------------------
     // keep executin tick until it returns etiher SUCCESS or FAILURE
-    while( tree.root_node->executeTick() == NodeStatus::RUNNING)
+    while( tree.tickRoot() == NodeStatus::RUNNING)
     {
         std::this_thread::sleep_for( Milliseconds(10) );
     }
diff --git a/examples/t01_build_your_first_tree.cpp b/examples/t01_build_your_first_tree.cpp
@@ -82,7 +82,7 @@ int main()
     // The tick is propagated to the children based on the logic of the tree.
     // In this case, the entire sequence is executed, because all the children
     // of the Sequence return SUCCESS.
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }
diff --git a/examples/t02_basic_ports.cpp b/examples/t02_basic_ports.cpp
@@ -101,7 +101,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     /*  Expected output:
      *
diff --git a/examples/t03_generic_ports.cpp b/examples/t03_generic_ports.cpp
@@ -124,7 +124,7 @@ int main()
     factory.registerNodeType<PrintTarget>("PrintTarget");
 
     auto tree = factory.createTreeFromText(xml_text);
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
 /* Expected output:
  *
diff --git a/examples/t04_reactive_sequence.cpp b/examples/t04_reactive_sequence.cpp
@@ -82,17 +82,17 @@ int main()
         NodeStatus status;
 
         std::cout << "\n--- 1st executeTick() ---" << std::endl;
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         Assert(status == NodeStatus::RUNNING);
 
         SleepMS(150);
         std::cout << "\n--- 2nd executeTick() ---" << std::endl;
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         Assert(status == NodeStatus::RUNNING);
 
         SleepMS(150);
         std::cout << "\n--- 3rd executeTick() ---" << std::endl;
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         Assert(status == NodeStatus::SUCCESS);
 
         std::cout << std::endl;
diff --git a/examples/t05_crossdoor.cpp b/examples/t05_crossdoor.cpp
@@ -81,7 +81,7 @@ int main(int argc, char** argv)
     PublisherZMQ publisher_zmq(tree);
 #endif
 
-    printTreeRecursively(tree.root_node);
+    printTreeRecursively(tree.rootNode());
 
     const bool LOOP = ( argc == 2 && strcmp( argv[1], "loop") == 0);
 
@@ -91,7 +91,7 @@ int main(int argc, char** argv)
         // Keep on ticking until you get either a SUCCESS or FAILURE state
         while( status == NodeStatus::RUNNING)
         {
-            status = tree.root_node->executeTick();
+            status = tree.tickRoot();
             CrossDoor::SleepMS(1);   // optional sleep to avoid "busy loops"
         }
         CrossDoor::SleepMS(1000);
diff --git a/examples/t06_subtree_port_remapping.cpp b/examples/t06_subtree_port_remapping.cpp
@@ -67,7 +67,7 @@ int main()
     // Keep on ticking until you get either a SUCCESS or FAILURE state
     while( status == NodeStatus::RUNNING)
     {
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         SleepMS(1);   // optional sleep to avoid "busy loops"
     }
 
diff --git a/examples/t07_wrap_legacy.cpp b/examples/t07_wrap_legacy.cpp
@@ -84,7 +84,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }
diff --git a/examples/t08_additional_node_args.cpp b/examples/t08_additional_node_args.cpp
@@ -109,7 +109,7 @@ int main()
         }
     }
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     /* Expected output:
 
diff --git a/examples/t09_async_actions_coroutines.cpp b/examples/t09_async_actions_coroutines.cpp
@@ -116,7 +116,7 @@ int main()
 
     //---------------------------------------
     // keep executin tick until it returns etiher SUCCESS or FAILURE
-    while( tree.root_node->executeTick() == NodeStatus::RUNNING)
+    while( tree.tickRoot() == NodeStatus::RUNNING)
     {
         std::this_thread::sleep_for( std::chrono::milliseconds(10) );
     }
diff --git a/examples/t10_include_trees.cpp b/examples/t10_include_trees.cpp
@@ -19,9 +19,9 @@ int main(int argc, char** argv)
     // all the TreeNodes are destroyed
     auto tree = factory.createTreeFromFile(argv[1]);
 
-    printTreeRecursively( tree.root_node );
+    printTreeRecursively( tree.rootNode() );
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }
diff --git a/examples/t11_runtime_ports.cpp b/examples/t11_runtime_ports.cpp
@@ -64,7 +64,7 @@ int main()
     factory.registerNodeType<SayRuntimePort>("SayRuntimePort", say_ports);
 
     auto tree = factory.createTreeFromText(xml_text);
-    tree.root_node->executeTick();
+    tree.tickRoot();
     return 0;
 }
 
diff --git a/include/behaviortree_cpp_v3/bt_factory.h b/include/behaviortree_cpp_v3/bt_factory.h
@@ -125,16 +125,17 @@ See examples for more information about configuring CMake correctly
  *
  * To tick the tree, simply call:
  *
- *    NodeStatus status = my_tree.root_node->executeTick();
+ *    NodeStatus status = my_tree.tickRoot();
  */
-struct Tree
+class Tree
 {
-    TreeNode* root_node;
+public:
+
     std::vector<TreeNode::Ptr> nodes;
     std::vector<Blackboard::Ptr> blackboard_stack;
     std::unordered_map<std::string, TreeNodeManifest> manifests;
 
-    Tree(): root_node(nullptr) {}
+    Tree(){}
 
     // non-copyable. Only movable
     Tree(const Tree& ) = delete;
@@ -147,7 +148,6 @@ struct Tree
 
     Tree& operator=(Tree&& other)
     {
-        root_node = std::move(other.root_node);
         nodes = std::move(other.nodes);
         blackboard_stack = std::move(other.blackboard_stack);
         manifests = std::move(other.manifests);
@@ -158,20 +158,39 @@ struct Tree
     {
         // the halt should propagate to all the node if the nodes
         // have been implemented correctly
-        root_node->halt();
-        root_node->setStatus(NodeStatus::IDLE);
+        rootNode()->halt();
+        rootNode()->setStatus(NodeStatus::IDLE);
 
         //but, just in case.... this should be no-op
         auto visitor = [](BT::TreeNode * node) {
             node->halt();
             node->setStatus(BT::NodeStatus::IDLE);
         };
-        BT::applyRecursiveVisitor(root_node, visitor);
+        BT::applyRecursiveVisitor(rootNode(), visitor);
+    }
+
+    TreeNode* rootNode() const
+    {
+      return nodes.empty() ? nullptr : nodes.front().get();
+    }
+
+    NodeStatus tickRoot()
+    {
+      if(!rootNode())
+      {
+        throw RuntimeError("Empty Tree");
+      }
+      NodeStatus ret = rootNode()->executeTick();
+      if( ret == NodeStatus::SUCCESS || ret == NodeStatus::FAILURE){
+        rootNode()->setStatus(BT::NodeStatus::IDLE);
+      }
+      return ret;
     }
 
     ~Tree();
 
     Blackboard::Ptr rootBlackboard();
+
 };
 
 /**
diff --git a/include/behaviortree_cpp_v3/flatbuffers/bt_flatbuffer_helper.h b/include/behaviortree_cpp_v3/flatbuffers/bt_flatbuffer_helper.h
@@ -64,7 +64,7 @@ inline void CreateFlatbuffersBehaviorTree(flatbuffers::FlatBufferBuilder& builde
 {
     std::vector<flatbuffers::Offset<Serialization::TreeNode>> fb_nodes;
 
-    applyRecursiveVisitor(tree.root_node, [&](BT::TreeNode* node)
+    applyRecursiveVisitor(tree.rootNode(), [&](BT::TreeNode* node)
     {
         std::vector<uint16_t> children_uid;
         if (auto control = dynamic_cast<BT::ControlNode*>(node))
@@ -135,7 +135,7 @@ inline void CreateFlatbuffersBehaviorTree(flatbuffers::FlatBufferBuilder& builde
         node_models.push_back(node_model);
     }
 
-    auto behavior_tree = Serialization::CreateBehaviorTree(builder, tree.root_node->UID(),
+    auto behavior_tree = Serialization::CreateBehaviorTree(builder, tree.rootNode()->UID(),
                                                            builder.CreateVector(fb_nodes),
                                                            builder.CreateVector(node_models));
 
diff --git a/include/behaviortree_cpp_v3/loggers/abstract_logger.h b/include/behaviortree_cpp_v3/loggers/abstract_logger.h
@@ -17,7 +17,7 @@ typedef std::array<uint8_t, 12> SerializedTransition;
 class StatusChangeLogger
 {
   public:
-    StatusChangeLogger(TreeNode* root_node);
+    StatusChangeLogger(TreeNode *root_node);
     virtual ~StatusChangeLogger() = default;
 
     virtual void callback(BT::Duration timestamp, const TreeNode& node, NodeStatus prev_status,
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -261,8 +261,8 @@ Tree BehaviorTreeFactory::createTreeFromFile(const std::string &file_path,
 
 Tree::~Tree()
 {
-    if (root_node) {
-        haltAllActions(root_node);
+    if (rootNode()) {
+        haltAllActions(rootNode());
     }
 }
 
diff --git a/src/loggers/bt_cout_logger.cpp b/src/loggers/bt_cout_logger.cpp
@@ -4,7 +4,7 @@ namespace BT
 {
 std::atomic<bool> StdCoutLogger::ref_count(false);
 
-StdCoutLogger::StdCoutLogger(const BT::Tree& tree) : StatusChangeLogger(tree.root_node)
+StdCoutLogger::StdCoutLogger(const BT::Tree& tree) : StatusChangeLogger(tree.rootNode())
 {
     bool expected = false;
     if (!ref_count.compare_exchange_strong(expected, true))
diff --git a/src/loggers/bt_file_logger.cpp b/src/loggers/bt_file_logger.cpp
@@ -4,7 +4,7 @@
 namespace BT
 {
 FileLogger::FileLogger(const BT::Tree& tree, const char* filename, uint16_t buffer_size)
-  : StatusChangeLogger(tree.root_node), buffer_max_size_(buffer_size)
+  : StatusChangeLogger(tree.rootNode()), buffer_max_size_(buffer_size)
 {
     if (buffer_max_size_ != 0)
     {
diff --git a/src/loggers/bt_minitrace_logger.cpp b/src/loggers/bt_minitrace_logger.cpp
@@ -7,7 +7,7 @@ namespace BT
 std::atomic<bool> MinitraceLogger::ref_count(false);
 
 MinitraceLogger::MinitraceLogger(const Tree &tree, const char* filename_json)
-  : StatusChangeLogger(tree.root_node   )
+  : StatusChangeLogger( tree.rootNode() )
 {
     bool expected = false;
     if (!ref_count.compare_exchange_strong(expected, true))
diff --git a/src/loggers/bt_zmq_publisher.cpp b/src/loggers/bt_zmq_publisher.cpp
@@ -25,7 +25,7 @@ PublisherZMQ::PublisherZMQ(const BT::Tree& tree,
                            unsigned max_msg_per_second,
                            unsigned publisher_port,
                            unsigned server_port)
-  : StatusChangeLogger(tree.root_node)
+  : StatusChangeLogger(tree.rootNode())
   , tree_(tree)
   , min_time_between_msgs_(std::chrono::microseconds(1000 * 1000) / max_msg_per_second)
   , send_pending_(false)
@@ -100,7 +100,7 @@ PublisherZMQ::~PublisherZMQ()
 void PublisherZMQ::createStatusBuffer()
 {
     status_buffer_.clear();
-    applyRecursiveVisitor(tree_.root_node, [this](TreeNode* node) {
+    applyRecursiveVisitor(tree_.rootNode(), [this](TreeNode* node) {
         size_t index = status_buffer_.size();
         status_buffer_.resize(index + 3);
         flatbuffers::WriteScalar<uint16_t>(&status_buffer_[index], node->UID());
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -431,11 +431,6 @@ Tree XMLParser::instantiateTree(const Blackboard::Ptr& root_blackboard)
                               output_tree,
                               root_blackboard,
                               TreeNode::Ptr() );
-
-    if( output_tree.nodes.size() > 0)
-    {
-        output_tree.root_node = output_tree.nodes.front().get();
-    }
     return output_tree;
 }
 
diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
diff --git a/tests/gtest_ports.cpp b/tests/gtest_ports.cpp
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
diff --git a/tests/navigation_test.cpp b/tests/navigation_test.cpp

Original file line number	Diff line number	Diff line change
`@@ -77,7 +77,7 @@ int main()`
`77`	`77`	`// Keep on ticking until you get either a SUCCESS or FAILURE state`
`78`	`78`	`while( status == NodeStatus::RUNNING)`
`79`	`79`	`{`
`80`		`- status = tree.root_node->executeTick();`
	`80`	`+ status = tree.tickRoot();`
`81`	`81`	`SleepMS(1); // optional sleep to avoid "busy loops"`
`82`	`82`	`}`
`83`	`83`
Original file line number	Diff line number	Diff line change
`@@ -87,7 +87,7 @@ int main()`
`87`	`87`
`88`	`88`	`auto tree = factory.createTreeFromText(xml_text);`
`89`	`89`
`90`		`- tree.root_node->executeTick();`
	`90`	`+ tree.tickRoot();`
`91`	`91`
`92`	`92`	`return 0;`
`93`	`93`	`}`
Original file line number	Diff line number	Diff line change
`@@ -137,7 +137,7 @@ int main()`
`137`	`137`	`}`
`138`	`138`	`}`
`139`	`139`
`140`		`- tree.root_node->executeTick();`
	`140`	`+ tree.tickRoot();`
`141`	`141`
`142`	`142`	`return 0;`
`143`	`143`	`}`
Original file line number	Diff line number	Diff line change
`@@ -148,7 +148,7 @@ int main()`
`148`	`148`
`149`	`149`	`//---------------------------------------`
`150`	`150`	`// keep executin tick until it returns etiher SUCCESS or FAILURE`
`151`		`- while( tree.root_node->executeTick() == NodeStatus::RUNNING)`
	`151`	`+ while( tree.tickRoot() == NodeStatus::RUNNING)`
`152`	`152`	`{`
`153`	`153`	`std::this_thread::sleep_for( Milliseconds(10) );`
`154`	`154`	`}`
Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,7 @@ int main()`
`82`	`82`	`// The tick is propagated to the children based on the logic of the tree.`
`83`	`83`	`// In this case, the entire sequence is executed, because all the children`
`84`	`84`	`// of the Sequence return SUCCESS.`
`85`		`- tree.root_node->executeTick();`
	`85`	`+ tree.tickRoot();`
`86`	`86`
`87`	`87`	`return 0;`
`88`	`88`	`}`
Original file line number	Diff line number	Diff line change
`@@ -101,7 +101,7 @@ int main()`
`101`	`101`
`102`	`102`	`auto tree = factory.createTreeFromText(xml_text);`
`103`	`103`
`104`		`- tree.root_node->executeTick();`
	`104`	`+ tree.tickRoot();`
`105`	`105`
`106`	`106`	`/* Expected output:`
`107`	`107`	`*`