add resetChild to all the decorators that missed it

Author: facontidavide

include/behaviortree_cpp/decorators/force_failure_node.h

@@ -37,23 +37,15 @@ inline NodeStatus ForceFailureNode::tick()
 {
   setStatus(NodeStatus::RUNNING);
 
-  const NodeStatus child_state = child_node_->executeTick();
+  const NodeStatus child_status = child_node_->executeTick();
 
-  switch (child_state)
+  if(isStatusCompleted(child_status))
   {
-    case NodeStatus::FAILURE:
-    case NodeStatus::SUCCESS: {
-      return NodeStatus::FAILURE;
-    }
-
-    case NodeStatus::RUNNING: {
-      return NodeStatus::RUNNING;
-    }
-
-    default: {
-      // TODO throw?
-    }
+    resetChild();
+    return NodeStatus::FAILURE;
   }
-  return status();
+
+  // RUNNING or skipping
+  return child_status;
 }
 }   // namespace BT

include/behaviortree_cpp/decorators/force_success_node.h

@@ -37,23 +37,15 @@ inline NodeStatus ForceSuccessNode::tick()
 {
   setStatus(NodeStatus::RUNNING);
 
-  const NodeStatus child_state = child_node_->executeTick();
+  const NodeStatus child_status = child_node_->executeTick();
 
-  switch (child_state)
+  if(isStatusCompleted(child_status))
   {
-    case NodeStatus::FAILURE:
-    case NodeStatus::SUCCESS: {
-      return NodeStatus::SUCCESS;
-    }
-
-    case NodeStatus::RUNNING: {
-      return NodeStatus::RUNNING;
-    }
-
-    default: {
-      // TODO throw?
-    }
+    resetChild();
+    return NodeStatus::SUCCESS;
   }
-  return status();
+
+  // RUNNING or skipping
+  return child_status;
 }
 }   // namespace BT

include/behaviortree_cpp/decorators/keep_running_until_failure_node.h

@@ -43,9 +43,13 @@ inline NodeStatus KeepRunningUntilFailureNode::tick()
   switch (child_state)
   {
     case NodeStatus::FAILURE: {
+      resetChild();
       return NodeStatus::FAILURE;
     }
-    case NodeStatus::SUCCESS:
+    case NodeStatus::SUCCESS: {
+      resetChild();
+      return NodeStatus::RUNNING;
+    }
     case NodeStatus::RUNNING: {
       return NodeStatus::RUNNING;
     }

include/behaviortree_cpp/decorators/run_once_node.h

@@ -70,11 +70,12 @@ inline NodeStatus RunOnceNode::tick()
   }
 
   setStatus(NodeStatus::RUNNING);
-  auto const status = child_node_->executeTick();
+  const NodeStatus status = child_node_->executeTick();
 
-  if(isStatusCompleted(status) ) {
+  if(isStatusCompleted(status)) {
     already_ticked_ = true;
     returned_status_ = status;
+    resetChild();
   }
   return status;
 }

include/behaviortree_cpp/decorators/script_precondition.h

@@ -49,8 +49,18 @@ class PreconditionNode : public DecoratorNode
     }
 
     Ast::Environment env = {config().blackboard, config().enums};
-    Any res = _executor(env);
-    return (res.cast<bool>()) ? child_node_->executeTick() : else_return;
+    if(_executor(env).cast<bool>())
+    {
+      auto const child_status = child_node_->executeTick();
+      if(isStatusCompleted(child_status))
+      {
+        resetChild();
+      }
+      return child_status;
+    }
+    else {
+      return else_return;
+    }
   }
 
   void loadExecutor()

include/behaviortree_cpp/decorators/timeout_node.h

@@ -104,13 +104,14 @@ class TimeoutNode : public DecoratorNode
     }
     else
     {
-      auto child_status = child()->executeTick();
-      if (child_status != NodeStatus::RUNNING)
+      const NodeStatus child_status = child()->executeTick();
+      if(isStatusCompleted(child_status))
       {
         timeout_started_ = false;
         timeout_mutex_.unlock();
         timer_.cancel(timer_id_);
         timeout_mutex_.lock();
+        resetChild();
       }
       return child_status;
     }

src/decorators/delay_node.cpp

@@ -60,8 +60,8 @@ NodeStatus DelayNode::tick()
   }
   else if (delay_complete_)
   {
-    auto child_status = child()->executeTick();
-    if(child_status != NodeStatus::RUNNING)
+    const NodeStatus child_status = child()->executeTick();
+    if(isStatusCompleted(child_status))
     {
       delay_started_ = false;
       delay_aborted_ = false;

src/decorators/inverter_node.cpp

@@ -37,13 +37,11 @@ NodeStatus InverterNode::tick()
       return NodeStatus::SUCCESS;
     }
 
-    case NodeStatus::RUNNING: {
-      return NodeStatus::RUNNING;
-    }
-
+    case NodeStatus::RUNNING:
     case NodeStatus::SKIPPED: {
-      return NodeStatus::SKIPPED;
+      return child_status;
     }
+
     case NodeStatus::IDLE: {
       throw LogicError("[", name(), "]: A children should not return IDLE");
     }

src/decorators/subtree_node.cpp

@@ -25,11 +25,11 @@ BT::NodeStatus BT::SubTreeNode::tick()
   {
     setStatus(NodeStatus::RUNNING);
   }
-  auto status = child_node_->executeTick();
-  if(status != NodeStatus::RUNNING)
+  const NodeStatus child_status = child_node_->executeTick();
+  if(isStatusCompleted(child_status))
   {
     resetChild();
   }
 
-  return status;
+  return child_status;
 }