issue BehaviorTree#59: add loop in Retry and Repeat

Davide Faconti · Davide Faconti · commit f139887a8ef6 · 2019-02-27T13:15:33.000+01:00
diff --git a/gtest/gtest_decorator.cpp b/gtest/gtest_decorator.cpp
@@ -120,29 +120,16 @@ TEST_F(RetryTest, RetryTestA)
 {
     action.setBoolean(false);
 
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(1, action.tickCount() );
-
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(2, action.tickCount() );
-
     root.executeTick();
     ASSERT_EQ(NodeStatus::FAILURE, root.status());
     ASSERT_EQ(3, action.tickCount() );
 
-    // try again
-    action.resetTicks();
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(1, action.tickCount() );
-
     action.setBoolean(true);
+    action.resetTicks();
 
     root.executeTick();
     ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-    ASSERT_EQ(2, action.tickCount() );
+    ASSERT_EQ(1, action.tickCount() );
 }
 
 TEST_F(RepeatTest, RepeatTestA)
@@ -153,42 +140,13 @@ TEST_F(RepeatTest, RepeatTestA)
     ASSERT_EQ(NodeStatus::FAILURE, root.status());
     ASSERT_EQ(1, action.tickCount() );
 
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::FAILURE, root.status());
-    ASSERT_EQ(2, action.tickCount() );
-
     //-------------------
     action.resetTicks();
     action.setBoolean(true);
 
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(1, action.tickCount() );
-
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(2, action.tickCount() );
-
     root.executeTick();
     ASSERT_EQ(NodeStatus::SUCCESS, root.status());
     ASSERT_EQ(3, action.tickCount() );
-
-    //-------------------
-    action.resetTicks();
-    action.setBoolean(true);
-
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(1, action.tickCount() );
-
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::RUNNING, root.status());
-    ASSERT_EQ(2, action.tickCount() );
-
-    action.setBoolean(false);
-    root.executeTick();
-    ASSERT_EQ(NodeStatus::FAILURE, root.status());
-    ASSERT_EQ(3, action.tickCount() );
 }
 
 // https://github.com/BehaviorTree/BehaviorTree.CPP/issues/57
diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
@@ -46,38 +46,39 @@ NodeStatus RepeatNode::tick()
     }
 
     setStatus(NodeStatus::RUNNING);
-    NodeStatus child_state = child_node_->executeTick();
 
-    switch (child_state)
+    while (try_index_ < num_cycles_)
     {
-        case NodeStatus::SUCCESS:
+        NodeStatus child_state = child_node_->executeTick();
+
+        switch (child_state)
         {
-            try_index_++;
-            if (try_index_ >= num_cycles_)
+            case NodeStatus::SUCCESS:
             {
-                try_index_ = 0;
-                return (NodeStatus::SUCCESS);
+                try_index_++;
             }
-        }
-        break;
+            break;
 
-        case NodeStatus::FAILURE:
-        {
-            try_index_ = 0;
-            return (NodeStatus::FAILURE);
-        }
+            case NodeStatus::FAILURE:
+            {
+                try_index_ = 0;
+                return (NodeStatus::FAILURE);
+            }
 
-        case NodeStatus::RUNNING:
-        {
-            return (NodeStatus::RUNNING);
-        }
+            case NodeStatus::RUNNING:
+            {
+                return NodeStatus::RUNNING;
+            }
 
-        default:
-        {
-            throw LogicError("A child node must never return IDLE");
+            default:
+            {
+                throw LogicError("A child node must never return IDLE");
+            }
         }
     }
-    return status();
+
+    try_index_ = 0;
+    return (NodeStatus::SUCCESS);
 }
 
 void RepeatNode::halt()
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
@@ -51,39 +51,39 @@ NodeStatus RetryNode::tick()
     }
 
     setStatus(NodeStatus::RUNNING);
-    NodeStatus child_state = child_node_->executeTick();
 
-    switch (child_state)
+    while (try_index_ < max_attempts_)
     {
-        case NodeStatus::SUCCESS:
-        {
-            try_index_ = 0;
-            return (NodeStatus::SUCCESS);
-        }
+        NodeStatus child_state = child_node_->executeTick();
 
-        case NodeStatus::FAILURE:
+        switch (child_state)
         {
-            try_index_++;
-            if (try_index_ >= max_attempts_)
+            case NodeStatus::SUCCESS:
             {
                 try_index_ = 0;
-                return (NodeStatus::FAILURE);
+                return (NodeStatus::SUCCESS);
             }
-        }
-        break;
 
-        case NodeStatus::RUNNING:
-        {
-            return NodeStatus::RUNNING;
-        }
+            case NodeStatus::FAILURE:
+            {
+                try_index_++;
+            }
+            break;
 
-        default:
-        {
-            throw LogicError("A child node must never return IDLE");
+            case NodeStatus::RUNNING:
+            {
+                return NodeStatus::RUNNING;
+            }
+
+            default:
+            {
+                throw LogicError("A child node must never return IDLE");
+            }
         }
     }
 
-    return status();
+    try_index_ = 0;
+    return (NodeStatus::FAILURE);
 }
 
 }
