Renaming: Negation->Inverter and Deadline->Timeout

Davide Faconti · Davide Faconti · commit c9f0c2c0123e · 2018-10-16T11:51:31.000+02:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,10 +58,10 @@ set(BT_Source
         src/shared_library.cpp
         src/shared_library_UNIX.cpp
 
-        src/decorators/negation_node.cpp
+        src/decorators/inverter_node.cpp
         src/decorators/repeat_node.cpp
         src/decorators/retry_node.cpp
-        src/decorators/deadline_node.cpp
+        src/decorators/timeout_node.cpp
 
         src/controls/parallel_node.cpp
         src/controls/fallback_node.cpp
diff --git a/docs/BT_basics.md b/docs/BT_basics.md
@@ -96,8 +96,8 @@ You can create your own Decorators.
 
 ![Simple Decorator: Enter Room](images/DecoratorEnterRoom.png)
 
-The node __Negation__ is a Decorator that inverts 
-the result returned by its child; Negation followed by the node called
+The node __Inverter__ is a Decorator that inverts 
+the result returned by its child; Inverter followed by the node called
 __DoorOpen__ is therefore equivalent to 
 
     "Is the door closed?".
diff --git a/docs/DecoratorNode.md b/docs/DecoratorNode.md
@@ -5,7 +5,7 @@ A decorator is a node that can have only a single child.
 It is up to the Decorator to decide if, when and how many times the child should be
 ticked.
 
-## NegationNode
+## InverterNode
 
 Tick the child once and return SUCCESS if the child failed or FAILURE if
 the child succeeded.
diff --git a/docs/images/CrossDoorSubtree.png b/docs/images/CrossDoorSubtree.png
diff --git a/docs/images/DecoratorEnterRoom.png b/docs/images/DecoratorEnterRoom.png
diff --git a/docs/images/TypeHierarchy.png b/docs/images/TypeHierarchy.png
diff --git a/docs/tutorial_D_subtrees.md b/docs/tutorial_D_subtrees.md
@@ -30,9 +30,9 @@ Multiple BehaviorTrees can be created and composed in the XML itself.
 	<!--------------------------------------->
     <BehaviorTree ID="DoorClosed">
         <Sequence name="door_closed_sequence">
-            <Negation>
+            <Inverter>
                 <IsDoorOpen/>
-            </Negation>
+            </Inverter>
             <RetryUntilSuccesful num_attempts="4">
                 <OpenDoor/>
             </RetryUntilSuccesful>
diff --git a/docs/uml/CrossDoorSubtree.uxf b/docs/uml/CrossDoorSubtree.uxf
@@ -132,7 +132,7 @@
       <w>80</w>
       <h>30</h>
     </coordinates>
-    <panel_attributes>Negation</panel_attributes>
+    <panel_attributes>Inverter</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
diff --git a/docs/uml/EnterRoom.uxf b/docs/uml/EnterRoom.uxf
@@ -52,7 +52,7 @@
       <w>100</w>
       <h>30</h>
     </coordinates>
-    <panel_attributes>Negation
+    <panel_attributes>Inverter
 fg=blue</panel_attributes>
     <additional_attributes/>
   </element>
diff --git a/docs/uml/EnterRoom2.uxf b/docs/uml/EnterRoom2.uxf
@@ -52,7 +52,7 @@
       <w>100</w>
       <h>30</h>
     </coordinates>
-    <panel_attributes>Negation
+    <panel_attributes>Inverter
 fg=blue</panel_attributes>
     <additional_attributes/>
   </element>
diff --git a/docs/uml/Sequence2.uxf b/docs/uml/Sequence2.uxf
@@ -97,7 +97,7 @@
       <w>100</w>
       <h>30</h>
     </coordinates>
-    <panel_attributes>Negation
+    <panel_attributes>Inverter
 fg=blue</panel_attributes>
     <additional_attributes/>
   </element>
diff --git a/docs/uml/TypeHierarchy.uxf b/docs/uml/TypeHierarchy.uxf
@@ -16,7 +16,7 @@
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>490</x>
+      <x>590</x>
       <y>280</y>
       <w>100</w>
       <h>30</h>
@@ -27,8 +27,8 @@
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>380</x>
-      <y>280</y>
+      <x>590</x>
+      <y>320</y>
       <w>100</w>
       <h>30</h>
     </coordinates>
@@ -38,8 +38,8 @@
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>600</x>
-      <y>280</y>
+      <x>590</x>
+      <y>240</y>
       <w>120</w>
       <h>30</h>
     </coordinates>
@@ -49,41 +49,41 @@
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>420</x>
+      <x>500</x>
       <y>200</y>
       <w>110</w>
-      <h>100</h>
+      <h>160</h>
     </coordinates>
     <panel_attributes>lt=&lt;&lt;-</panel_attributes>
-    <additional_attributes>90.0;10.0;10.0;80.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;140.0;90.0;140.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
       <x>530</x>
       <y>200</y>
-      <w>30</w>
-      <h>100</h>
+      <w>80</w>
+      <h>110</h>
     </coordinates>
     <panel_attributes>lt=&lt;&lt;-</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;80.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;90.0;60.0;90.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
       <x>560</x>
       <y>200</y>
-      <w>110</w>
-      <h>100</h>
+      <w>50</w>
+      <h>70</h>
     </coordinates>
     <panel_attributes>lt=&lt;&lt;-</panel_attributes>
-    <additional_attributes>10.0;10.0;90.0;80.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0;30.0;50.0</additional_attributes>
   </element>
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>340</x>
-      <y>380</y>
+      <x>700</x>
+      <y>420</y>
       <w>100</w>
       <h>30</h>
     </coordinates>
@@ -93,7 +93,7 @@
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>450</x>
+      <x>700</x>
       <y>380</y>
       <w>120</w>
       <h>30</h>
@@ -104,30 +104,30 @@
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>380</x>
-      <y>300</y>
-      <w>60</w>
-      <h>100</h>
+      <x>620</x>
+      <y>340</y>
+      <w>100</w>
+      <h>120</h>
     </coordinates>
     <panel_attributes>lt=&lt;&lt;-</panel_attributes>
-    <additional_attributes>40.0;10.0;10.0;80.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;100.0;80.0;100.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>430</x>
-      <y>300</y>
+      <x>640</x>
+      <y>340</y>
       <w>80</w>
-      <h>100</h>
+      <h>70</h>
     </coordinates>
     <panel_attributes>lt=&lt;&lt;-</panel_attributes>
-    <additional_attributes>10.0;10.0;60.0;80.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0;60.0;50.0</additional_attributes>
   </element>
   <element>
     <id>UMLNote</id>
     <coordinates>
-      <x>590</x>
-      <y>330</y>
+      <x>460</x>
+      <y>360</y>
       <w>140</w>
       <h>90</h>
     </coordinates>
diff --git a/examples/crossdoor_example.cpp b/examples/crossdoor_example.cpp
@@ -16,9 +16,9 @@ const std::string xml_text = R"(
 	<!--------------------------------------->
     <BehaviorTree ID="DoorClosed">
         <Sequence name="door_closed_sequence">
-            <Negation>
+            <Inverter>
                 <Condition ID="IsDoorOpen"/>
-            </Negation>
+            </Inverter>
             <RetryUntilSuccesful num_attempts="4">
                 <OpenDoor/>
             </RetryUntilSuccesful>
diff --git a/gtest/gtest_decorator.cpp b/gtest/gtest_decorator.cpp
@@ -20,7 +20,7 @@ using BT::NodeStatus;
 
 struct DeadlineTest : testing::Test
 {
-    BT::DeadlineNode root;
+    BT::TimeoutNode root;
     BT::AsyncActionTest action;
 
     DeadlineTest()
diff --git a/gtest/gtest_factory.cpp b/gtest/gtest_factory.cpp
@@ -19,7 +19,7 @@ const std::string xml_text = R"(
             </Sequence>
 
             <Sequence name="door_closed_sequence">
-                <Decorator ID="Negation">
+                <Decorator ID="Inverter">
                      <Action ID="IsDoorOpen" />
                 </Decorator>
                 <Action ID="OpenDoor" />
@@ -56,7 +56,7 @@ const std::string xml_text_subtree = R"(
 
   <BehaviorTree ID="CrossDoorSubtree">
     <Sequence name="door_sequence">
-      <Decorator ID="Negation">
+      <Decorator ID="Inverter">
         <Action ID="IsDoorLocked" />
       </Decorator>
       <Action ID="OpenDoor" />
@@ -123,12 +123,12 @@ TEST(BehaviorTreeFactory, VerifyLargeTree)
     ASSERT_TRUE(sequence_closed != nullptr);
 
     ASSERT_EQ(sequence_closed->children().size(), 4);
-    ASSERT_EQ(sequence_closed->child(0)->name(), "Negation");
+    ASSERT_EQ(sequence_closed->child(0)->name(), "Inverter");
     ASSERT_EQ(sequence_closed->child(1)->name(), "OpenDoor");
     ASSERT_EQ(sequence_closed->child(2)->name(), "PassThroughDoor");
     ASSERT_EQ(sequence_closed->child(3)->name(), "CloseDoor");
 
-    auto decorator = dynamic_cast<const BT::NegationNode*>(sequence_closed->child(0));
+    auto decorator = dynamic_cast<const BT::InverterNode*>(sequence_closed->child(0));
     ASSERT_TRUE(decorator != nullptr);
 
     ASSERT_EQ(decorator->child()->name(), "IsDoorOpen");
@@ -173,12 +173,12 @@ TEST(BehaviorTreeFactory, Subtree)
     ASSERT_TRUE(sequence != nullptr);
 
     ASSERT_EQ(sequence->children().size(), 4);
-    ASSERT_EQ(sequence->child(0)->name(), "Negation");
+    ASSERT_EQ(sequence->child(0)->name(), "Inverter");
     ASSERT_EQ(sequence->child(1)->name(), "OpenDoor");
     ASSERT_EQ(sequence->child(2)->name(), "PassThroughDoor");
     ASSERT_EQ(sequence->child(3)->name(), "CloseDoor");
 
-    auto decorator = dynamic_cast<const BT::NegationNode*>(sequence->child(0));
+    auto decorator = dynamic_cast<const BT::InverterNode*>(sequence->child(0));
     ASSERT_TRUE(decorator != nullptr);
 
     ASSERT_EQ(decorator->child()->name(), "IsDoorLocked");
diff --git a/include/behavior_tree_core/behavior_tree.h b/include/behavior_tree_core/behavior_tree.h
@@ -24,7 +24,7 @@
 #include "behavior_tree_core/action_node.h"
 #include "behavior_tree_core/condition_node.h"
 
-#include "behavior_tree_core/decorators/negation_node.h"
+#include "behavior_tree_core/decorators/inverter_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"
@@ -35,8 +35,8 @@
 
 #include "behavior_tree_core/decorators/force_success_node.h"
 #include "behavior_tree_core/decorators/force_failure_node.h"
-#include "behavior_tree_core/decorators/blackboard_precondition_node.h"
-#include "behavior_tree_core/decorators/deadline_node.h"
+#include "behavior_tree_core/decorators/blackboard_precondition.h"
+#include "behavior_tree_core/decorators/timeout_node.h"
 
 namespace BT
 {
diff --git a/include/behavior_tree_core/decorators/blackboard_precondition.h b/include/behavior_tree_core/decorators/blackboard_precondition.h
diff --git a/include/behavior_tree_core/decorators/inverter_node.h b/include/behavior_tree_core/decorators/inverter_node.h
@@ -1,4 +1,4 @@
-/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
+/* Copyright (C) 2018 Michele Colledanchise -  All Rights Reserved
  * 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"),
@@ -11,19 +11,19 @@
 *   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 DECORATORNEGATIONNODE_H
-#define DECORATORNEGATIONNODE_H
+#ifndef DECORATOR_INVERTER_NODE_H
+#define DECORATOR_INVERTER_NODE_H
 
 #include "behavior_tree_core/decorator_node.h"
 
 namespace BT
 {
-class NegationNode : public DecoratorNode
+class InverterNode : public DecoratorNode
 {
   public:
-    NegationNode(const std::string& name);
+    InverterNode(const std::string& name);
 
-    virtual ~NegationNode() override = default;
+    virtual ~InverterNode() override = default;
 
   private:
     virtual BT::NodeStatus tick() override;
diff --git a/include/behavior_tree_core/decorators/timeout_node.h b/include/behavior_tree_core/decorators/timeout_node.h
@@ -1,19 +1,19 @@
-#ifndef DEADLINE_NODE_H
-#define DEADLINE_NODE_H
+#ifndef DECORATOR_TIMEOUT_NODE_H
+#define DECORATOR_TIMEOUT_NODE_H
 
 #include "behavior_tree_core/decorator_node.h"
 #include <atomic>
 #include "timer_queue.h"
 
 namespace BT
 {
-class DeadlineNode : public DecoratorNode
+class TimeoutNode : public DecoratorNode
 {
   public:
 
-    DeadlineNode(const std::string& name, unsigned milliseconds);
+    TimeoutNode(const std::string& name, unsigned milliseconds);
 
-    DeadlineNode(const std::string& name,const NodeParameters& params);
+    TimeoutNode(const std::string& name,const NodeParameters& params);
 
     static const NodeParameters& requiredNodeParameters()
     {
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
diff --git a/src/decorators/timeout_node.cpp b/src/decorators/timeout_node.cpp
