file moved and renamed

Author: facontidavide

CMakeLists.txt

@@ -43,25 +43,27 @@ set(BT_Source
 	src/action_node.cpp
         src/basic_types.cpp
         src/decorator_node.cpp
-        src/decorator_negation_node.cpp
-        src/decorator_repeat_node.cpp
-        src/decorator_retry_node.cpp
 	src/condition_node.cpp
 	src/control_node.cpp
 	src/exceptions.cpp
 	src/leaf_node.cpp
 	src/tick_engine.cpp
-	src/parallel_node.cpp
-	src/fallback_node.cpp
-	src/sequence_node.cpp
-	src/fallback_node_with_memory.cpp
-	src/sequence_node_with_memory.cpp
-	src/tree_node.cpp
+        src/tree_node.cpp
         src/bt_factory.cpp
         src/behavior_tree.cpp
-
         src/xml_parsing.cpp
 
+        src/decorators/negation_node.cpp
+        src/decorators/repeat_node.cpp
+        src/decorators/retry_node.cpp
+
+        src/controls/parallel_node.cpp
+        src/controls/fallback_node.cpp
+        src/controls/sequence_node.cpp
+        src/controls/fallback_node_with_memory.cpp
+        src/controls/sequence_node_with_memory.cpp
+
+
         src/loggers/bt_cout_logger.cpp
         src/loggers/bt_file_logger.cpp
         src/loggers/bt_minitrace_logger.cpp

gtest/gtest_factory.cpp

@@ -128,7 +128,7 @@ TEST(BehaviorTreeFactory, VerifyLargeTree)
     ASSERT_EQ(sequence_closed->child(2)->name(), "PassThroughDoor");
     ASSERT_EQ(sequence_closed->child(3)->name(), "CloseDoor");
 
-    auto decorator = dynamic_cast<const BT::DecoratorNegationNode*>(sequence_closed->child(0));
+    auto decorator = dynamic_cast<const BT::NegationNode*>(sequence_closed->child(0));
     ASSERT_TRUE(decorator != nullptr);
 
     ASSERT_EQ(decorator->child()->name(), "IsDoorOpen");
@@ -178,7 +178,7 @@ TEST(BehaviorTreeFactory, Subtree)
     ASSERT_EQ(sequence->child(2)->name(), "PassThroughDoor");
     ASSERT_EQ(sequence->child(3)->name(), "CloseDoor");
 
-    auto decorator = dynamic_cast<const BT::DecoratorNegationNode*>(sequence->child(0));
+    auto decorator = dynamic_cast<const BT::NegationNode*>(sequence->child(0));
     ASSERT_TRUE(decorator != nullptr);
 
     ASSERT_EQ(decorator->child()->name(), "IsDoorLocked");

include/behavior_tree_core/behavior_tree.h

@@ -14,20 +14,24 @@
 #ifndef BEHAVIOR_TREE_H
 #define BEHAVIOR_TREE_H
 
-#include "behavior_tree_core/parallel_node.h"
-#include "behavior_tree_core/fallback_node.h"
-#include "behavior_tree_core/sequence_node.h"
+#include "behavior_tree_core/controls/parallel_node.h"
+#include "behavior_tree_core/controls/fallback_node.h"
+#include "behavior_tree_core/controls/sequence_node.h"
 
-#include "behavior_tree_core/sequence_node_with_memory.h"
-#include "behavior_tree_core/fallback_node_with_memory.h"
+#include "behavior_tree_core/controls/sequence_node_with_memory.h"
+#include "behavior_tree_core/controls/fallback_node_with_memory.h"
 
 #include "behavior_tree_core/action_node.h"
 #include "behavior_tree_core/condition_node.h"
 
-#include "behavior_tree_core/decorator_negation_node.h"
-#include "behavior_tree_core/decorator_retry_node.h"
-#include "behavior_tree_core/decorator_repeat_node.h"
-#include "behavior_tree_core/decorator_subtree_node.h"
+#include "behavior_tree_core/decorators/negation_node.h"
+#include "behavior_tree_core/decorators/retry_node.h"
+#include "behavior_tree_core/decorators/repeat_node.h"
+#include "behavior_tree_core/decorators/subtree_node.h"
+
+#include "behavior_tree_core/decorators/always_success_node.h"
+#include "behavior_tree_core/decorators/always_failure_node.h"
+#include "behavior_tree_core/decorators/blackboard_precondition_node.h"
 
 namespace BT
 {

include/behavior_tree_core/fallback_node.h renamed to include/behavior_tree_core/controls/fallback_node.h

@@ -0,0 +1,70 @@
+/*  Copyright (C) 2018 Davide Faconti -  All Rights Reserved
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef DECORATOR_ALWAYS_FAILURE_NODE_H
+#define DECORATOR_ALWAYS_FAILURE_NODE_H
+
+#include "behavior_tree_core/decorator_node.h"
+
+namespace BT
+{
+class AlwaysFailureNode : public DecoratorNode
+{
+  public:
+    AlwaysFailureNode(const std::string& name);
+
+    virtual ~AlwaysFailureNode() override = default;
+
+  private:
+    virtual BT::NodeStatus tick() override;
+};
+
+//------------ implementation ----------------------------
+
+inline AlwaysFailureNode::AlwaysFailureNode(const std::string& name) :
+    DecoratorNode(name, NodeParameters())
+{
+}
+
+inline NodeStatus AlwaysFailureNode::tick()
+{
+    setStatus(NodeStatus::RUNNING);
+
+    const NodeStatus child_state = child_node_->executeTick();
+
+    switch (child_state)
+    {
+    case NodeStatus::FAILURE:
+    case NodeStatus::SUCCESS:
+    {
+        child_node_->setStatus(NodeStatus::IDLE);
+        return NodeStatus::FAILURE;
+    }
+    break;
+
+    case NodeStatus::RUNNING:
+    {
+        return NodeStatus::RUNNING;
+    }
+    break;
+
+    default:
+    {
+        // TODO throw?
+    }
+}
+    return status();
+}
+
+}
+
+#endif

include/behavior_tree_core/fallback_node_with_memory.h renamed to include/behavior_tree_core/controls/fallback_node_with_memory.h

@@ -0,0 +1,70 @@
+/*  Copyright (C) 2018 Davide Faconti -  All Rights Reserved
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef DECORATOR_ALWAYS_SUCCESS_NODE_H
+#define DECORATOR_ALWAYS_SUCCESS_NODE_H
+
+#include "behavior_tree_core/decorator_node.h"
+
+namespace BT
+{
+class AlwaysSuccessNode : public DecoratorNode
+{
+  public:
+    AlwaysSuccessNode(const std::string& name);
+
+    virtual ~AlwaysSuccessNode() override = default;
+
+  private:
+    virtual BT::NodeStatus tick() override;
+};
+
+//------------ implementation ----------------------------
+
+inline AlwaysSuccessNode::AlwaysSuccessNode(const std::string& name) :
+    DecoratorNode(name, NodeParameters())
+{
+}
+
+inline NodeStatus AlwaysSuccessNode::tick()
+{
+    setStatus(NodeStatus::RUNNING);
+
+    const NodeStatus child_state = child_node_->executeTick();
+
+    switch (child_state)
+    {
+    case NodeStatus::FAILURE:
+    case NodeStatus::SUCCESS:
+    {
+        child_node_->setStatus(NodeStatus::IDLE);
+        return  NodeStatus::SUCCESS;
+    }
+    break;
+
+    case NodeStatus::RUNNING:
+    {
+        return NodeStatus::RUNNING;
+    }
+    break;
+
+    default:
+    {
+        // TODO throw?
+    }
+}
+    return status();
+}
+
+}
+
+#endif