new nodes renamed

Davide Faconti · Davide Faconti · commit bd27aa671f47 · 2019-02-25T16:35:27.000+01:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -121,8 +121,8 @@ list(APPEND BT_SOURCE
 
     src/controls/fallback_node.cpp
     src/controls/parallel_node.cpp
-    src/controls/parallel_first_node.cpp
-    src/controls/parallel_all_node.cpp
+    src/controls/reactive_sequence.cpp
+    src/controls/reactive_fallback.cpp
     src/controls/sequence_node.cpp
     src/controls/sequence_star_node.cpp
 
diff --git a/examples/t04_reactive_sequence.cpp b/examples/t04_reactive_sequence.cpp
@@ -36,14 +36,14 @@ static const char* xml_text_reactive = R"(
  <root main_tree_to_execute = "MainTree" >
 
      <BehaviorTree ID="MainTree">
-        <ParallelAll name="root">
+        <ReactiveSequence name="root">
             <BatteryOK/>
             <Sequence>
                 <SaySomething   message="mission started..." />
                 <MoveBase       goal="1;2;3"/>
                 <SaySomething   message="mission completed!" />
             </Sequence>
-        </ParallelAll>
+        </ReactiveSequence>
      </BehaviorTree>
 
  </root>
diff --git a/gtest/gtest_fallback.cpp b/gtest/gtest_fallback.cpp
@@ -40,7 +40,7 @@ struct SimpleFallbackTest : testing::Test
 
 struct ParallelOneTest : testing::Test
 {
-    BT::ParallelFirstNode root;
+    BT::ReactiveFallback root;
     BT::ConditionTestNode condition_1;
     BT::ConditionTestNode condition_2;
     BT::AsyncActionTest action_1;
diff --git a/gtest/gtest_parallel.cpp b/gtest/gtest_parallel.cpp
@@ -149,6 +149,7 @@ TEST_F(SimpleParallelTest, Threshold_1)
     ASSERT_EQ(NodeStatus::IDLE, action_2.status());
     ASSERT_EQ(NodeStatus::SUCCESS, state);
 }
+
 TEST_F(ComplexParallelTest, ConditionsTrue)
 {
     BT::NodeStatus state = root.executeTick();
diff --git a/gtest/gtest_sequence.cpp b/gtest/gtest_sequence.cpp
@@ -40,7 +40,7 @@ struct SimpleSequenceTest : testing::Test
 
 struct ComplexSequenceTest : testing::Test
 {
-    BT::ParallelAllNode root;
+    BT::ReactiveSequence root;
     BT::AsyncActionTest action_1;
     BT::ConditionTestNode condition_1;
     BT::ConditionTestNode condition_2;
diff --git a/gtest/navigation_test.cpp b/gtest/navigation_test.cpp
@@ -11,15 +11,15 @@ static const char* xml_text = R"(
     <BehaviorTree ID="BehaviorTree">
         <Fallback name="root">
 
-            <ParallelAll name="navigation_subtree">
+            <ReactiveSequence name="navigation_subtree">
                 <Inverter>
                     <Condition ID="IsStuck"/>
                 </Inverter>
                 <SequenceStar name="navigate">
                     <Action ID="ComputePathToPose"/>
                     <Action ID="FollowPath"/>
                 </SequenceStar>
-            </ParallelAll>
+            </ReactiveSequence>
 
             <SequenceStar name="stuck_recovery">
                 <Condition ID="IsStuck"/>
diff --git a/include/behaviortree_cpp/behavior_tree.h b/include/behaviortree_cpp/behavior_tree.h
@@ -15,8 +15,8 @@
 #define BEHAVIOR_TREE_H
 
 #include "behaviortree_cpp/controls/parallel_node.h"
-#include "behaviortree_cpp/controls/parallel_first_node.h"
-#include "behaviortree_cpp/controls/parallel_all_node.h"
+#include "behaviortree_cpp/controls/reactive_sequence.h"
+#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"
diff --git a/include/behaviortree_cpp/controls/reactive_fallback.h b/include/behaviortree_cpp/controls/reactive_fallback.h
@@ -10,27 +10,41 @@
 *   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.
 */
 
-#ifndef PARALLEL_FIRST_NODE_H
-#define PARALLEL_FIRST_NODE_H
+#ifndef REACTIVE_FALLBACK_NODE_H
+#define REACTIVE_FALLBACK_NODE_H
 
 #include "behaviortree_cpp/control_node.h"
 
 namespace BT
 {
 
-class ParallelFirstNode : public ControlNode
+/**
+ * @brief The ReactiveFallback is similar to a ParallelNode.
+ * All the children are ticked from first to last:
+ *
+ * - If a child returns RUNNING, continue to the next sibling.
+ * - If a child returns FAILURE, continue to the next sibling.
+ * - If a child returns SUCCESS, stop and return SUCCESS.
+ *
+ * If all the children fail, than this node returns FAILURE.
+ *
+ * IMPORTANT: to work properly, this node should not have more than a single
+ *            asynchronous child.
+ *
+ */
+class ReactiveFallback : public ControlNode
 {
   public:
 
-    ParallelFirstNode(const std::string& name):
+    ReactiveFallback(const std::string& name):
       ControlNode(name, {}){}
 
-    ~ParallelFirstNode() = default;
+    ~ReactiveFallback() = default;
 
   private:
 
     virtual BT::NodeStatus tick() override;
 };
 
 }
-#endif   // PARALLEL_FIRST_NODE_H
+#endif   // REACTIVE_FALLBACK_NODE_H
diff --git a/include/behaviortree_cpp/controls/reactive_sequence.h b/include/behaviortree_cpp/controls/reactive_sequence.h
@@ -10,27 +10,40 @@
 *   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.
 */
 
-#ifndef PARALLEL_ALL_NODE_H
-#define PARALLEL_ALL_NODE_H
+#ifndef REACTIVE_SEQUENCE_NODE_H
+#define REACTIVE_SEQUENCE_NODE_H
 
 #include "behaviortree_cpp/control_node.h"
 
 namespace BT
 {
-
-class ParallelAllNode : public ControlNode
+/**
+ * @brief The ReactiveSequence is similar to a ParallelNode.
+ * All the children are ticked from first to last:
+ *
+ * - If a child returns RUNNING, tick the next sibling.
+ * - If a child returns SUCCESS, tick the next sibling.
+ * - If a child returns FAILURE, stop and return FAILURE.
+ *
+ * If all the children return SUCCESS, this node returns SUCCESS.
+ *
+ * IMPORTANT: to work properly, this node should not have more than a single
+ *            asynchronous child.
+ *
+ */
+class ReactiveSequence : public ControlNode
 {
   public:
 
-    ParallelAllNode(const std::string& name):
+    ReactiveSequence(const std::string& name):
         ControlNode(name, {}) {}
 
-    ~ParallelAllNode() = default;
+    ~ReactiveSequence() = default;
 
   private:
 
     virtual BT::NodeStatus tick() override;
 };
 
 }
-#endif   // PARALLEL_ALL_NODE_H
+#endif  // REACTIVE_SEQUENCE_NODE_H
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -22,8 +22,8 @@ BehaviorTreeFactory::BehaviorTreeFactory()
     registerNodeType<SequenceNode>("Sequence");
     registerNodeType<SequenceStarNode>("SequenceStar");
     registerNodeType<ParallelNode>("Parallel");
-    registerNodeType<ParallelAllNode>("ParallelAll");
-    registerNodeType<ParallelFirstNode>("ParallelFirst");
+    registerNodeType<ReactiveSequence>("ReactiveSequence");
+    registerNodeType<ReactiveFallback>("ReactiveFallback");
 
     registerNodeType<InverterNode>("Inverter");
     registerNodeType<RetryNode>("RetryUntilSuccesful");
diff --git a/src/controls/reactive_fallback.cpp b/src/controls/reactive_fallback.cpp
@@ -10,17 +10,17 @@
 *   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/parallel_first_node.h"
+#include "behaviortree_cpp/controls/reactive_fallback.h"
 
 namespace BT
 {
 
-NodeStatus ParallelFirstNode::tick()
+NodeStatus ReactiveFallback::tick()
 {
     size_t failure_count = 0;
     size_t running_count = 0;
 
-    for (size_t index=0; index < childrenCount(); index++)
+    for (size_t index = 0; index < childrenCount(); index++)
     {
         TreeNode* current_child_node = children_nodes_[index];
         const NodeStatus child_status = current_child_node->executeTick();
@@ -34,7 +34,6 @@ NodeStatus ParallelFirstNode::tick()
 
             case NodeStatus::FAILURE:
             {
-                // Reset on failure
                 failure_count++;
             }break;
 
@@ -51,6 +50,12 @@ NodeStatus ParallelFirstNode::tick()
         }   // end switch
     } //end for
 
+    if( failure_count == childrenCount() )
+    {
+        haltChildren(0);
+        return NodeStatus::FAILURE;
+    }
+
     return NodeStatus::RUNNING;
 }
 
diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
@@ -10,17 +10,17 @@
 *   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/parallel_all_node.h"
+#include "behaviortree_cpp/controls/reactive_sequence.h"
 
 namespace BT
 {
 
-NodeStatus ParallelAllNode::tick()
+NodeStatus ReactiveSequence::tick()
 {
     size_t success_count = 0;
     size_t running_count = 0;
 
-    for (size_t index=0; index < childrenCount(); index++)
+    for (size_t index = 0; index < childrenCount(); index++)
     {
         TreeNode* current_child_node = children_nodes_[index];
         const NodeStatus child_status = current_child_node->executeTick();
@@ -33,7 +33,6 @@ NodeStatus ParallelAllNode::tick()
             }break;
             case NodeStatus::FAILURE:
             {
-                // Reset on failure
                 haltChildren(0);
                 return NodeStatus::FAILURE;
             }

Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@ struct SimpleFallbackTest : testing::Test`
`40`	`40`
`41`	`41`	`struct ParallelOneTest : testing::Test`
`42`	`42`	`{`
`43`		`- BT::ParallelFirstNode root;`
	`43`	`+ BT::ReactiveFallback root;`
`44`	`44`	`BT::ConditionTestNode condition_1;`
`45`	`45`	`BT::ConditionTestNode condition_2;`
`46`	`46`	`BT::AsyncActionTest action_1;`
Original file line number	Diff line number	Diff line change
`@@ -149,6 +149,7 @@ TEST_F(SimpleParallelTest, Threshold_1)`
`149`	`149`	`ASSERT_EQ(NodeStatus::IDLE, action_2.status());`
`150`	`150`	`ASSERT_EQ(NodeStatus::SUCCESS, state);`
`151`	`151`	`}`
	`152`	`+`
`152`	`153`	`TEST_F(ComplexParallelTest, ConditionsTrue)`
`153`	`154`	`{`
`154`	`155`	`BT::NodeStatus state = root.executeTick();`
Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@ struct SimpleSequenceTest : testing::Test`
`40`	`40`
`41`	`41`	`struct ComplexSequenceTest : testing::Test`
`42`	`42`	`{`
`43`		`- BT::ParallelAllNode root;`
	`43`	`+ BT::ReactiveSequence root;`
`44`	`44`	`BT::AsyncActionTest action_1;`
`45`	`45`	`BT::ConditionTestNode condition_1;`
`46`	`46`	`BT::ConditionTestNode condition_2;`