fix reactive sequence (issue #526 and #525)

Author: facontidavide

src/controls/reactive_sequence.cpp

@@ -16,7 +16,6 @@ namespace BT
 {
 NodeStatus ReactiveSequence::tick()
 {
-  size_t success_count = 0;
   bool all_skipped = true;
   setStatus(NodeStatus::RUNNING);
 
@@ -44,14 +43,9 @@ NodeStatus ReactiveSequence::tick()
         resetChildren();
         return NodeStatus::FAILURE;
       }
-      case NodeStatus::SUCCESS: {
-        success_count++;
-      }
-      break;
-
-      case NodeStatus::SKIPPED: {
-        // node skipped
-      }
+      // do nothing if SUCCESS or SKIPPED
+      case NodeStatus::SUCCESS:
+      case NodeStatus::SKIPPED:
       break;
 
       case NodeStatus::IDLE: {
@@ -60,10 +54,8 @@ NodeStatus ReactiveSequence::tick()
     }   // end switch
   }     //end for
 
-  if (success_count == childrenCount())
-  {
-    resetChildren();
-  }
+  resetChildren();
+
   // Skip if ALL the nodes have been skipped
   return all_skipped ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
 }

tests/gtest_skipping.cpp

@@ -114,3 +114,46 @@ TEST(SkippingLogic, ReactiveSingleChild)
 
   tree.tickWhileRunning();
 }
+
+TEST(SkippingLogic, SkippingReactiveSequence)
+{
+  BehaviorTreeFactory factory;
+  std::array<int, 2> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  const std::string xml_text = R"(
+    <root BTCPP_format="4" >
+       <BehaviorTree>
+          <Sequence>
+            <ReactiveSequence>
+              <Script code=" value:=50 "/>
+              <TestA _skipIf="value < 25"/>
+            </ReactiveSequence>
+
+            <ReactiveSequence>
+              <Script code=" value:=10 "/>
+              <TestB _skipIf="value < 25"/>
+            </ReactiveSequence>
+         </Sequence>
+       </BehaviorTree>
+    </root>)";
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  BT::NodeStatus status;
+  try {
+    int runs = 0;
+    while(runs < 5)
+    {
+      status = tree.tickOnce();
+      tree.sleep(std::chrono::milliseconds(10));
+      runs++;
+    }
+  } catch (BT::LogicError err) {
+    std::cout << err.what() << std::endl;
+  }
+
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(counters[0], 5);
+  ASSERT_EQ(counters[1], 0);
+}