Remove duplication related to IDLE

facontidavide · facontidavide · commit 77d2aa78228b · 2019-01-16T21:45:36.000+01:00
diff --git a/include/behaviortree_cpp/decorator_node.h b/include/behaviortree_cpp/decorator_node.h
@@ -31,6 +31,8 @@ class DecoratorNode : public TreeNode
     {
         return NodeType::DECORATOR;
     }
+
+    NodeStatus executeTick() override;
 };
 
 /**
diff --git a/include/behaviortree_cpp/decorators/force_failure_node.h b/include/behaviortree_cpp/decorators/force_failure_node.h
@@ -42,7 +42,6 @@ inline NodeStatus ForceFailureDecorator::tick()
         case NodeStatus::FAILURE:
         case NodeStatus::SUCCESS:
         {
-            child_node_->setStatus(NodeStatus::IDLE);
             return NodeStatus::FAILURE;
         }
 
diff --git a/include/behaviortree_cpp/decorators/force_success_node.h b/include/behaviortree_cpp/decorators/force_success_node.h
@@ -42,7 +42,6 @@ inline NodeStatus ForceSuccessDecorator::tick()
         case NodeStatus::FAILURE:
         case NodeStatus::SUCCESS:
         {
-            child_node_->setStatus(NodeStatus::IDLE);
             return NodeStatus::SUCCESS;
         }
 
diff --git a/include/behaviortree_cpp/decorators/repeat_node.h b/include/behaviortree_cpp/decorators/repeat_node.h
@@ -41,8 +41,11 @@ class RepeatNode : public DecoratorNode
     bool read_parameter_from_blackboard_;
     static constexpr const char* NUM_CYCLES = "num_cycles";
 
-    virtual BT::NodeStatus tick() override;
+    virtual NodeStatus tick() override;
+
+    void halt() override;
 };
+
 }
 
 #endif
diff --git a/src/decorator_node.cpp b/src/decorator_node.cpp
@@ -67,4 +67,16 @@ NodeStatus SimpleDecoratorNode::tick()
 {
     return tick_functor_(child()->executeTick(), *this);
 }
+
+NodeStatus DecoratorNode::executeTick()
+{
+    NodeStatus status = TreeNode::executeTick();
+    NodeStatus child_status =child()->status();
+    if( child_status == NodeStatus::SUCCESS || child_status == NodeStatus::FAILURE )
+    {
+        child()->setStatus(NodeStatus::IDLE);
+    }
+    return status;
+}
+
 }
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
@@ -30,23 +30,18 @@ NodeStatus InverterNode::tick()
     {
         case NodeStatus::SUCCESS:
         {
-            setStatus(NodeStatus::FAILURE);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return NodeStatus::FAILURE;
         }
-        break;
 
         case NodeStatus::FAILURE:
         {
-            setStatus(NodeStatus::SUCCESS);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return NodeStatus::SUCCESS;
         }
-        break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return NodeStatus::RUNNING;
         }
-        break;
 
         default:
         {
diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
@@ -61,33 +61,35 @@ NodeStatus RepeatNode::tick()
             try_index_++;
             if (try_index_ >= num_cycles_)
             {
-                setStatus(NodeStatus::SUCCESS);
                 try_index_ = 0;
+                return (NodeStatus::SUCCESS);
             }
-            child_node_->setStatus(NodeStatus::IDLE);
         }
         break;
 
         case NodeStatus::FAILURE:
         {
             try_index_ = 0;
-            setStatus(NodeStatus::FAILURE);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return (NodeStatus::FAILURE);
         }
-        break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return (NodeStatus::RUNNING);
         }
-        break;
 
         default:
         {
             // TODO throw?
         }
     }
-
     return status();
 }
+
+void RepeatNode::halt()
+{
+    try_index_ = 0;
+    DecoratorNode::halt();
+}
+
 }
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
@@ -65,28 +65,24 @@ NodeStatus RetryNode::tick()
         case NodeStatus::SUCCESS:
         {
             try_index_ = 0;
-            setStatus(NodeStatus::SUCCESS);
-            child_node_->setStatus(NodeStatus::IDLE);
+            return (NodeStatus::SUCCESS);
         }
-        break;
 
         case NodeStatus::FAILURE:
         {
             try_index_++;
             if (try_index_ >= max_attempts_)
             {
                 try_index_ = 0;
-                setStatus(NodeStatus::FAILURE);
+                return (NodeStatus::FAILURE);
             }
-            child_node_->setStatus(NodeStatus::IDLE);
         }
         break;
 
         case NodeStatus::RUNNING:
         {
-            setStatus(NodeStatus::RUNNING);
+            return (NodeStatus::RUNNING);
         }
-        break;
 
         default:
         {
@@ -96,4 +92,5 @@ NodeStatus RetryNode::tick()
 
     return status();
 }
+
 }
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
@@ -14,14 +14,6 @@ BT::NodeStatus BT::DecoratorSubtreeNode::tick()
     {
         setStatus(NodeStatus::RUNNING);
     }
-    auto status = child_node_->executeTick();
-    setStatus(status);
-
-    // reset child if completed
-    if( status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE)
-    {
-        child_node_->setStatus(NodeStatus::IDLE);
-    }
-    return status;
+    return child_node_->executeTick();
 }
 
diff --git a/src/decorators/timeout_node.cpp b/src/decorators/timeout_node.cpp
@@ -54,7 +54,6 @@ NodeStatus TimeoutNode::tick()
                 if (!aborted && child()->status() == NodeStatus::RUNNING)
                 {
                     child()->halt();
-                    child()->setStatus(NodeStatus::IDLE);
                     child_halted_ = true;
                 }
             });
@@ -70,12 +69,12 @@ NodeStatus TimeoutNode::tick()
         auto child_status = child()->executeTick();
         if (child_status != NodeStatus::RUNNING)
         {
-            child()->setStatus(NodeStatus::IDLE);
             timer().cancel(timer_id_);
         }
         setStatus(child_status);
     }
 
     return status();
 }
+
 }

Original file line number	Diff line number	Diff line change
`@@ -31,6 +31,8 @@ class DecoratorNode : public TreeNode`
`31`	`31`	`{`
`32`	`32`	`return NodeType::DECORATOR;`
`33`	`33`	`}`
	`34`	`+`
	`35`	`+ NodeStatus executeTick() override;`
`34`	`36`	`};`
`35`	`37`
`36`	`38`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -42,7 +42,6 @@ inline NodeStatus ForceFailureDecorator::tick()`
`42`	`42`	`case NodeStatus::FAILURE:`
`43`	`43`	`case NodeStatus::SUCCESS:`
`44`	`44`	`{`
`45`		`- child_node_->setStatus(NodeStatus::IDLE);`
`46`	`45`	`return NodeStatus::FAILURE;`
`47`	`46`	`}`
`48`	`47`
Original file line number	Diff line number	Diff line change
`@@ -67,4 +67,16 @@ NodeStatus SimpleDecoratorNode::tick()`
`67`	`67`	`{`
`68`	`68`	`return tick_functor_(child()->executeTick(), *this);`
`69`	`69`	`}`
	`70`	`+`
	`71`	`+NodeStatus DecoratorNode::executeTick()`
	`72`	`+{`
	`73`	`+ NodeStatus status = TreeNode::executeTick();`
	`74`	`+ NodeStatus child_status =child()->status();`
	`75`	`+ if( child_status == NodeStatus::SUCCESS \|\| child_status == NodeStatus::FAILURE )`
	`76`	`+ {`
	`77`	`+ child()->setStatus(NodeStatus::IDLE);`
	`78`	`+ }`
	`79`	`+ return status;`
	`80`	`+}`
	`81`	`+`
`70`	`82`	`}`
Original file line number	Diff line number	Diff line change
`@@ -30,23 +30,18 @@ NodeStatus InverterNode::tick()`
`30`	`30`	`{`
`31`	`31`	`case NodeStatus::SUCCESS:`
`32`	`32`	`{`
`33`		`- setStatus(NodeStatus::FAILURE);`
`34`		`- child_node_->setStatus(NodeStatus::IDLE);`
	`33`	`+ return NodeStatus::FAILURE;`
`35`	`34`	`}`
`36`		`- break;`
`37`	`35`
`38`	`36`	`case NodeStatus::FAILURE:`
`39`	`37`	`{`
`40`		`- setStatus(NodeStatus::SUCCESS);`
`41`		`- child_node_->setStatus(NodeStatus::IDLE);`
	`38`	`+ return NodeStatus::SUCCESS;`
`42`	`39`	`}`
`43`		`- break;`
`44`	`40`
`45`	`41`	`case NodeStatus::RUNNING:`
`46`	`42`	`{`
`47`		`- setStatus(NodeStatus::RUNNING);`
	`43`	`+ return NodeStatus::RUNNING;`
`48`	`44`	`}`
`49`		`- break;`
`50`	`45`
`51`	`46`	`default:`
`52`	`47`	`{`
Original file line number	Diff line number	Diff line change
`@@ -61,33 +61,35 @@ NodeStatus RepeatNode::tick()`
`61`	`61`	`try_index_++;`
`62`	`62`	`if (try_index_ >= num_cycles_)`
`63`	`63`	`{`
`64`		`- setStatus(NodeStatus::SUCCESS);`
`65`	`64`	`try_index_ = 0;`
	`65`	`+ return (NodeStatus::SUCCESS);`
`66`	`66`	`}`
`67`		`- child_node_->setStatus(NodeStatus::IDLE);`
`68`	`67`	`}`
`69`	`68`	`break;`
`70`	`69`
`71`	`70`	`case NodeStatus::FAILURE:`
`72`	`71`	`{`
`73`	`72`	`try_index_ = 0;`
`74`		`- setStatus(NodeStatus::FAILURE);`
`75`		`- child_node_->setStatus(NodeStatus::IDLE);`
	`73`	`+ return (NodeStatus::FAILURE);`
`76`	`74`	`}`
`77`		`- break;`
`78`	`75`
`79`	`76`	`case NodeStatus::RUNNING:`
`80`	`77`	`{`
`81`		`- setStatus(NodeStatus::RUNNING);`
	`78`	`+ return (NodeStatus::RUNNING);`
`82`	`79`	`}`
`83`		`- break;`
`84`	`80`
`85`	`81`	`default:`
`86`	`82`	`{`
`87`	`83`	`// TODO throw?`
`88`	`84`	`}`
`89`	`85`	`}`
`90`		`-`
`91`	`86`	`return status();`
`92`	`87`	`}`
	`88`	`+`
	`89`	`+void RepeatNode::halt()`
	`90`	`+{`
	`91`	`+ try_index_ = 0;`
	`92`	`+ DecoratorNode::halt();`
	`93`	`+}`
	`94`	`+`
`93`	`95`	`}`
Original file line number	Diff line number	Diff line change
`@@ -65,28 +65,24 @@ NodeStatus RetryNode::tick()`
`65`	`65`	`case NodeStatus::SUCCESS:`
`66`	`66`	`{`
`67`	`67`	`try_index_ = 0;`
`68`		`- setStatus(NodeStatus::SUCCESS);`
`69`		`- child_node_->setStatus(NodeStatus::IDLE);`
	`68`	`+ return (NodeStatus::SUCCESS);`
`70`	`69`	`}`
`71`		`- break;`
`72`	`70`
`73`	`71`	`case NodeStatus::FAILURE:`
`74`	`72`	`{`
`75`	`73`	`try_index_++;`
`76`	`74`	`if (try_index_ >= max_attempts_)`
`77`	`75`	`{`
`78`	`76`	`try_index_ = 0;`
`79`		`- setStatus(NodeStatus::FAILURE);`
	`77`	`+ return (NodeStatus::FAILURE);`
`80`	`78`	`}`
`81`		`- child_node_->setStatus(NodeStatus::IDLE);`
`82`	`79`	`}`
`83`	`80`	`break;`
`84`	`81`
`85`	`82`	`case NodeStatus::RUNNING:`
`86`	`83`	`{`
`87`		`- setStatus(NodeStatus::RUNNING);`
	`84`	`+ return (NodeStatus::RUNNING);`
`88`	`85`	`}`
`89`		`- break;`
`90`	`86`
`91`	`87`	`default:`
`92`	`88`	`{`
`@@ -96,4 +92,5 @@ NodeStatus RetryNode::tick()`
`96`	`92`
`97`	`93`	`return status();`
`98`	`94`	`}`
	`95`	`+`
`99`	`96`	`}`
Original file line number	Diff line number	Diff line change
`@@ -14,14 +14,6 @@ BT::NodeStatus BT::DecoratorSubtreeNode::tick()`
`14`	`14`	`{`
`15`	`15`	`setStatus(NodeStatus::RUNNING);`
`16`	`16`	`}`
`17`		`- auto status = child_node_->executeTick();`
`18`		`- setStatus(status);`
`19`		`-`
`20`		`- // reset child if completed`
`21`		`- if( status == NodeStatus::SUCCESS \|\| status == NodeStatus::FAILURE)`
`22`		`- {`
`23`		`- child_node_->setStatus(NodeStatus::IDLE);`
`24`		`- }`
`25`		`- return status;`
	`17`	`+ return child_node_->executeTick();`
`26`	`18`	`}`
`27`	`19`
Original file line number	Diff line number	Diff line change
`@@ -54,7 +54,6 @@ NodeStatus TimeoutNode::tick()`
`54`	`54`	`if (!aborted && child()->status() == NodeStatus::RUNNING)`
`55`	`55`	`{`
`56`	`56`	`child()->halt();`
`57`		`- child()->setStatus(NodeStatus::IDLE);`
`58`	`57`	`child_halted_ = true;`
`59`	`58`	`}`
`60`	`59`	`});`
`@@ -70,12 +69,12 @@ NodeStatus TimeoutNode::tick()`
`70`	`69`	`auto child_status = child()->executeTick();`
`71`	`70`	`if (child_status != NodeStatus::RUNNING)`
`72`	`71`	`{`
`73`		`- child()->setStatus(NodeStatus::IDLE);`
`74`	`72`	`timer().cancel(timer_id_);`
`75`	`73`	`}`
`76`	`74`	`setStatus(child_status);`
`77`	`75`	`}`
`78`	`76`
`79`	`77`	`return status();`
`80`	`78`	`}`
	`79`	`+`
`81`	`80`	`}`