"fix" issue #587: ReactiveSequence should set conditions to IDLE

Author: facontidavide

src/basic_types.cpp

@@ -59,6 +59,9 @@ std::string toStr(NodeStatus status, bool colored)
                "RUNNING"
                "\x1b[0m";   // YELLOW
       case NodeStatus::SKIPPED:
+        return "\x1b[34m"
+               "SKIPPED"
+               "\x1b[0m";   // BLUE
       case NodeStatus::IDLE:
         return "\x1b[36m"
                "IDLE"

src/controls/reactive_sequence.cpp

@@ -38,9 +38,9 @@ NodeStatus ReactiveSequence::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        // just in case, make sure that following children are not
-        // in RUNNING state too
-        for (size_t i = index + 1; i < childrenCount(); i++)
+        // reset the previous children, to make sure that they are in IDLE state
+        // the next time we tick them
+        for (size_t i = 0; i < index; i++)
         {
           haltChild(i);
         }

tests/gtest_reactive.cpp

@@ -1,11 +1,15 @@
 #include <gtest/gtest.h>
 #include "behaviortree_cpp/bt_factory.h"
 #include "test_helper.hpp"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
 
 using BT::NodeStatus;
 using std::chrono::milliseconds;
 
-static const char* reactive_xml_text = R"(
+TEST(Reactive, RunningChildren)
+{
+
+  static const char* reactive_xml_text = R"(
 <root BTCPP_format="4" >
   <BehaviorTree ID="MainTree">
     <ReactiveSequence>
@@ -24,9 +28,6 @@ static const char* reactive_xml_text = R"(
 </root>
 )";
 
-
-TEST(Reactive, RunningChildren)
-{
   BT::BehaviorTreeFactory factory;
   std::array<int, 6> counters;
   RegisterTestTick(factory, "Test", counters);
@@ -56,3 +57,41 @@ TEST(Reactive, RunningChildren)
 }
 
 
+TEST(Reactive, Issue587)
+{
+  // TestA should be executed only once, because of the variable "test"
+
+  static const char* reactive_xml_text = R"(
+<root BTCPP_format="4" >
+  <BehaviorTree ID="Example A">
+    <Sequence>
+      <Script code="test := false"/>
+      <ReactiveSequence>
+        <RetryUntilSuccessful name="Retry 1" num_attempts="-1" _skipIf="test ">
+          <TestA name="Success 1" _onSuccess="test = true"/>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful name="Retry 2" num_attempts="5">
+          <AlwaysFailure name="Failure 2"/>
+        </RetryUntilSuccessful>
+      </ReactiveSequence>
+    </Sequence>
+  </BehaviorTree>
+</root>
+)";
+
+  BT::BehaviorTreeFactory factory;
+  std::array<int, 2> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  auto tree = factory.createTreeFromText(reactive_xml_text);
+  BT::StdCoutLogger logger(tree);
+
+ // for(int i=0; i<5; i++)
+  {
+    tree.tickWhileRunning();
+  }
+
+  ASSERT_EQ(counters[0], 1);
+}
+
+