[Breaking API change] make TreeNode::setStatus() protected

Users are not supposed to set the status of a node manually from the
outside. This might be a source of hard to debug errors as seen in
Navigation2 of ROS2.

If this change breaks your code, there is an high probability that your
code was already broken.

Author: facontidavide

include/behaviortree_cpp_v3/bt_factory.h

@@ -154,6 +154,21 @@ struct Tree
         return *this;
     }
 
+    void haltTree()
+    {
+        // the halt should propagate to all the node if all the nodes
+        // are implemented correctly
+        root_node->halt();
+        root_node->setStatus(NodeStatus::IDLE);
+
+        //but, just in case.... this should be no-op
+        auto visitor = [](BT::TreeNode * node) {
+            node->halt();
+            node->setStatus(BT::NodeStatus::IDLE);
+        };
+        BT::applyRecursiveVisitor(root_node, visitor);
+    }
+
     ~Tree();
 
     Blackboard::Ptr rootBlackboard();

include/behaviortree_cpp_v3/condition_node.h

@@ -28,7 +28,6 @@ class ConditionNode : public LeafNode
     //Do nothing
     virtual void halt() override final
     {
-        // just in case, but it should not be needed
         setStatus(NodeStatus::IDLE);
     }
 

include/behaviortree_cpp_v3/tree_node.h

@@ -80,8 +80,6 @@ class TreeNode
 
     NodeStatus status() const;
 
-    void setStatus(NodeStatus new_status);
-
     /// Name of the instance, not the type
     const std::string& name() const;
 
@@ -153,6 +151,9 @@ class TreeNode
     virtual BT::NodeStatus tick() = 0;
 
     friend class BehaviorTreeFactory;
+    friend class DecoratorNode;
+    friend class ControlNode;
+    friend class Tree;
 
     // Only BehaviorTreeFactory should call this
     void setRegistrationID(StringView ID)
@@ -162,6 +163,8 @@ class TreeNode
 
     void modifyPortsRemapping(const PortsRemapping& new_remapping);
 
+    void setStatus(NodeStatus new_status);
+
   private:
     const std::string name_;
 

src/action_node.cpp

@@ -169,7 +169,6 @@ struct CoroActionNode::Pimpl
 {
     coroutine::routine_t coro;
     std::atomic<bool> pending_destroy;
-
 };
 
 

src/decorators/timeout_node.cpp

@@ -61,8 +61,7 @@ NodeStatus TimeoutNode::tick()
                 if (!aborted && child()->status() == NodeStatus::RUNNING)
                 {
                     child_halted_ = true;
-                    child()->halt();
-                    child()->setStatus(NodeStatus::IDLE);
+                    haltChild();
                 }
             });
         }