fix issue BehaviorTree#141

facontidavide · facontidavide · commit ba66795e9907 · 2020-03-18T22:05:08.000+01:00
diff --git a/sample_nodes/crossdoor_nodes.cpp b/sample_nodes/crossdoor_nodes.cpp
@@ -26,8 +26,11 @@ NodeStatus CrossDoor::IsDoorLocked()
 
 NodeStatus CrossDoor::UnlockDoor()
 {
-    SleepMS(2000);
-    _door_locked = false;
+    if( _door_locked )
+    {
+        SleepMS(2000);
+        _door_locked = false;
+    }
     return NodeStatus::SUCCESS;
 }
 
@@ -47,10 +50,10 @@ NodeStatus CrossDoor::OpenDoor()
 {
     if (_door_locked)
     {
-        SleepMS(2000);
-        _door_open = true;
+        return NodeStatus::FAILURE;
     }
-
+    SleepMS(2000);
+    _door_open = true;
     return NodeStatus::SUCCESS;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -26,8 +26,11 @@ NodeStatus CrossDoor::IsDoorLocked()`
`26`	`26`
`27`	`27`	`NodeStatus CrossDoor::UnlockDoor()`
`28`	`28`	`{`
`29`		`- SleepMS(2000);`
`30`		`- _door_locked = false;`
	`29`	`+ if( _door_locked )`
	`30`	`+ {`
	`31`	`+ SleepMS(2000);`
	`32`	`+ _door_locked = false;`
	`33`	`+ }`
`31`	`34`	`return NodeStatus::SUCCESS;`
`32`	`35`	`}`
`33`	`36`
`@@ -47,10 +50,10 @@ NodeStatus CrossDoor::OpenDoor()`
`47`	`50`	`{`
`48`	`51`	`if (_door_locked)`
`49`	`52`	`{`
`50`		`- SleepMS(2000);`
`51`		`- _door_open = true;`
	`53`	`+ return NodeStatus::FAILURE;`
`52`	`54`	`}`
`53`		`-`
	`55`	`+ SleepMS(2000);`
	`56`	`+ _door_open = true;`
`54`	`57`	`return NodeStatus::SUCCESS;`
`55`	`58`	`}`
`56`	`59`