change API of haltChildren()

Author: facontidavide

include/behaviortree_cpp_v3/control_node.h

@@ -43,8 +43,10 @@ class ControlNode : public TreeNode
 
     virtual void halt() override;
 
-    /// call halt() for all the children in the range [i, childrenCount() )
-    void haltChildren(size_t i);
+
+    void haltChildren();
+
+    void haltChild(size_t i);
 
     virtual NodeType type() const override final
     {

include/behaviortree_cpp_v3/controls/switch_node.h

@@ -101,7 +101,7 @@ NodeStatus SwitchNode<NUM_CASES>::tick()
     // if another one was running earlier, halt it
     if( running_child_ != -1 && running_child_ != child_index)
     {
-        children_nodes_[running_child_]->halt();
+        haltChild(running_child_);
     }
 
     auto& selected_child = children_nodes_[child_index];
@@ -111,7 +111,7 @@ NodeStatus SwitchNode<NUM_CASES>::tick()
         running_child_ = child_index;
     }
     else{
-        selected_child->halt();
+        haltChildren();
         running_child_ = -1;
     }
     return ret;

src/control_node.cpp

@@ -32,7 +32,7 @@ size_t ControlNode::childrenCount() const
 
 void ControlNode::halt()
 {
-    haltChildren(0);
+    haltChildren();
     setStatus(NodeStatus::IDLE);
 }
 
@@ -41,16 +41,21 @@ const std::vector<TreeNode*>& ControlNode::children() const
     return children_nodes_;
 }
 
-void ControlNode::haltChildren(size_t i)
+void ControlNode::haltChild(size_t i)
 {
-    for (size_t j = i; j < children_nodes_.size(); j++)
+    auto child = children_nodes_[i];
+    if (child->status() == NodeStatus::RUNNING)
     {
-        auto child = children_nodes_[j];
-        if (child->status() == NodeStatus::RUNNING)
-        {
-            child->halt();
-        }
-        child->setStatus(NodeStatus::IDLE);
+        child->halt();
+    }
+    child->setStatus(NodeStatus::IDLE);
+}
+
+void ControlNode::haltChildren()
+{
+    for (size_t i = 0; i < children_nodes_.size(); i++)
+    {
+        haltChild(i);
     }
 }
 

src/controls/fallback_node.cpp

@@ -42,7 +42,7 @@ NodeStatus FallbackNode::tick()
             }
             case NodeStatus::SUCCESS:
             {
-                haltChildren(0);
+                haltChildren();
                 current_child_idx_ = 0;
                 return child_status;
             }
@@ -62,7 +62,7 @@ NodeStatus FallbackNode::tick()
     // The entire while loop completed. This means that all the children returned FAILURE.
     if (current_child_idx_ == children_count)
     {
-        haltChildren(0);
+        haltChildren();
         current_child_idx_ = 0;
     }
 

src/controls/parallel_node.cpp

@@ -83,7 +83,7 @@ NodeStatus ParallelNode::tick()
                 if (success_childred_num == threshold_)
                 {
                     skip_list_.clear();
-                    haltChildren(0);
+                    haltChildren();
                     return NodeStatus::SUCCESS;
                 }
             } break;
@@ -99,7 +99,7 @@ NodeStatus ParallelNode::tick()
                 if (failure_childred_num > children_count - threshold_)
                 {
                     skip_list_.clear();
-                    haltChildren(0);
+                    haltChildren();
                     return NodeStatus::FAILURE;
                 }
             } break;

src/controls/reactive_fallback.cpp

@@ -28,7 +28,10 @@ NodeStatus ReactiveFallback::tick()
         {
             case NodeStatus::RUNNING:
             {
-                haltChildren(index+1);
+                for(int i=index+1; i < childrenCount(); i++)
+                {
+                    haltChild(i);
+                }
                 return NodeStatus::RUNNING;
             }
 
@@ -39,7 +42,7 @@ NodeStatus ReactiveFallback::tick()
 
             case NodeStatus::SUCCESS:
             {
-                haltChildren(0);
+                haltChildren();
                 return NodeStatus::SUCCESS;
             }
 
@@ -52,7 +55,7 @@ NodeStatus ReactiveFallback::tick()
 
     if( failure_count == childrenCount() )
     {
-        haltChildren(0);
+        haltChildren();
         return NodeStatus::FAILURE;
     }
 

src/controls/reactive_sequence.cpp

@@ -30,13 +30,17 @@ NodeStatus ReactiveSequence::tick()
             case NodeStatus::RUNNING:
             {
                 running_count++;
-                haltChildren(index+1);
+
+                for(int i=index+1; i < childrenCount(); i++)
+                {
+                    haltChild(i);
+                }
                 return NodeStatus::RUNNING;
             }
 
             case NodeStatus::FAILURE:
             {
-                haltChildren(0);
+                haltChildren();
                 return NodeStatus::FAILURE;
             }
             case NodeStatus::SUCCESS:
@@ -53,7 +57,7 @@ NodeStatus ReactiveSequence::tick()
 
     if( success_count == childrenCount())
     {
-        haltChildren(0);
+        haltChildren();
         return NodeStatus::SUCCESS;
     }
     return NodeStatus::RUNNING;

src/controls/sequence_node.cpp

@@ -51,7 +51,7 @@ NodeStatus SequenceNode::tick()
             case NodeStatus::FAILURE:
             {
                 // Reset on failure
-                haltChildren(0);
+                haltChildren();
                 current_child_idx_ = 0;
                 return child_status;
             }
@@ -71,7 +71,7 @@ NodeStatus SequenceNode::tick()
     // The entire while loop completed. This means that all the children returned SUCCESS.
     if (current_child_idx_ == children_count)
     {
-        haltChildren(0);
+        haltChildren();
         current_child_idx_ = 0;
     }
     return NodeStatus::SUCCESS;

src/controls/sequence_star_node.cpp

@@ -42,8 +42,12 @@ NodeStatus SequenceStarNode::tick()
             }
             case NodeStatus::FAILURE:
             {
-                // DO NOT reset on failure
-                haltChildren(current_child_idx_);
+                // DO NOT reset current_child_idx_ on failure
+                for(int i=current_child_idx_; i < childrenCount(); i++)
+                {
+                    haltChild(i);
+                }
+
                 return child_status;
             }
             case NodeStatus::SUCCESS:
@@ -62,7 +66,7 @@ NodeStatus SequenceStarNode::tick()
     // The entire while loop completed. This means that all the children returned SUCCESS.
     if (current_child_idx_ == children_count)
     {
-        haltChildren(0);
+        haltChildren();
         current_child_idx_ = 0;
     }
     return NodeStatus::SUCCESS;