change getPortAny name and fic loop_node

facontidavide · facontidavide · commit 222384bec9ef · 2023-05-11T12:06:35.000+02:00
diff --git a/include/behaviortree_cpp/decorators/loop_node.h b/include/behaviortree_cpp/decorators/loop_node.h
@@ -71,7 +71,9 @@ class LoopPopNode : public DecoratorNode
     {
       // if the port is static, any_ref is empty, otherwise it will keep access to
       // port locked for thread-safety
-      AnyWriteRef any_ref = static_queue_ ? AnyWriteRef() : getPortAny("queue");
+      AnyWriteRef any_ref = static_queue_ ?
+                                AnyWriteRef() :
+                                getLockedPortContent("queue");
       if(any_ref)
       {
         current_queue_ = any_ref.get()->cast<SharedQueue<T>>();
@@ -98,6 +100,11 @@ class LoopPopNode : public DecoratorNode
     NodeStatus child_state = child_node_->executeTick();
     child_running_ = (child_state == NodeStatus::RUNNING);
 
+    if(isStatusCompleted(child_state))
+    {
+      resetChild();
+    }
+
     if(child_state == NodeStatus::FAILURE)
     {
       return NodeStatus::FAILURE;
diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -241,7 +241,7 @@ class TreeNode
   Result setOutput(const std::string& key, const T& value);
 
   /**
-   * @brief getPortAny should be used when:
+   * @brief getLockedPortContent should be used when:
    *
    * - your port contains an object with reference semantic (usually a smart pointer)
    * - you want to modify the object we are pointing to.
@@ -255,7 +255,7 @@ class TreeNode
    *
    * What you must do, instead, to guaranty thread-safety, is:
    *
-   *    if(auto any_ref = getPortAny("port_name")) {
+   *    if(auto any_ref = getLockedPortContent("port_name")) {
    *      Any* any = any_ref.get();
    *      auto foo_ptr = any->cast<std::shared_ptr<Foo>>();
    *      // modifying the content of foo_ptr inside this scope IS thread-safe
@@ -270,7 +270,7 @@ class TreeNode
    * @return     empty AnyWriteRef if the blackboard entry doesn't exist or the content
    *             of the port was a static string.
    */
-  AnyWriteRef getPortAny(const std::string& key);
+  AnyWriteRef getLockedPortContent(const std::string& key);
 
   // function provided mostly for debugging purpose to see the raw value
   // in the port (no remapping and no conversion to a type)
diff --git a/src/tree_node.cpp b/src/tree_node.cpp
@@ -411,7 +411,7 @@ std::string toStr<PostCond>(PostCond pre)
   }
 }
 
-AnyWriteRef BT::TreeNode::getPortAny(const std::string &key)
+AnyWriteRef BT::TreeNode::getLockedPortContent(const std::string &key)
 {
   if(auto remapped_key = getRemappedKey(key, getRawPortValue(key)))
   {

Original file line number	Diff line number	Diff line change
`@@ -411,7 +411,7 @@ std::string toStr<PostCond>(PostCond pre)`
`411`	`411`	`}`
`412`	`412`	`}`
`413`	`413`
`414`		`-AnyWriteRef BT::TreeNode::getPortAny(const std::string &key)`
	`414`	`+AnyWriteRef BT::TreeNode::getLockedPortContent(const std::string &key)`
`415`	`415`	`{`
`416`	`416`	`if(auto remapped_key = getRemappedKey(key, getRawPortValue(key)))`
`417`	`417`	`{`