Adding ForceRunningNode Decorator (BehaviorTree#192)

fmrico · web-flow · commit 3d22c6f020f1 · 2020-05-16T21:32:29.000+02:00
diff --git a/include/behaviortree_cpp_v3/behavior_tree.h b/include/behaviortree_cpp_v3/behavior_tree.h
@@ -39,6 +39,7 @@
 
 #include "behaviortree_cpp_v3/decorators/force_success_node.h"
 #include "behaviortree_cpp_v3/decorators/force_failure_node.h"
+#include "behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h"
 #include "behaviortree_cpp_v3/decorators/blackboard_precondition.h"
 #include "behaviortree_cpp_v3/decorators/timeout_node.h"
 
diff --git a/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h b/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h
@@ -0,0 +1,66 @@
+/*  Copyright (C) 2018-2020 Davide Faconti, Eurecat -  All Rights Reserved
+*   Copyright (C) 2020 Francisco Martin, Intelligent Robotics Lab (URJC) <fmrico@gmail.com>
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+*   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 DECORATOR_KEEP_RUNNING_UNTIL_FAILURE_H
+#define DECORATOR_KEEP_RUNNING_UNTIL_FAILURE_H
+
+#include "behaviortree_cpp_v3/decorator_node.h"
+
+namespace BT
+{
+/**
+ * @brief The KeepRunningUntilFailureNode returns always FAILURE or RUNNING.
+ */
+class KeepRunningUntilFailureNode : public DecoratorNode
+{
+  public:
+    KeepRunningUntilFailureNode(const std::string& name) :
+        DecoratorNode(name, {} )
+    {
+        setRegistrationID("KeepRunningUntilFailure");
+    }
+
+  private:
+    virtual BT::NodeStatus tick() override;
+};
+
+//------------ implementation ----------------------------
+
+inline NodeStatus KeepRunningUntilFailureNode::tick()
+{
+    setStatus(NodeStatus::RUNNING);
+
+    const NodeStatus child_state = child_node_->executeTick();
+
+    switch (child_state)
+    {
+        case NodeStatus::FAILURE:
+        {
+            return NodeStatus::FAILURE;
+        }    
+        case NodeStatus::SUCCESS:
+        case NodeStatus::RUNNING:
+        {
+            return NodeStatus::RUNNING;
+        }
+
+        default:
+        {
+            // TODO throw?
+        }
+    }
+    return status();
+}
+}
+
+#endif
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -34,6 +34,7 @@ BehaviorTreeFactory::BehaviorTreeFactory()
 
     registerNodeType<InverterNode>("Inverter");
     registerNodeType<RetryNode>("RetryUntilSuccesful");
+    registerNodeType<KeepRunningUntilFailureNode>("KeepRunningUntilFailure");
     registerNodeType<RepeatNode>("Repeat");
     registerNodeType<TimeoutNode>("Timeout");
 
