| 38 | } |
| 39 | |
| 40 | NodeStatus EntryUpdatedAction::tick() |
| 41 | { |
| 42 | if(auto entry = config().blackboard->getEntry(entry_key_)) |
| 43 | { |
| 44 | const std::unique_lock lk(entry->entry_mutex); |
| 45 | const uint64_t current_id = entry->sequence_id; |
| 46 | const uint64_t previous_id = sequence_id_; |
| 47 | sequence_id_ = current_id; |
| 48 | /* |
| 49 | uint64_t previous_id = 0; |
| 50 | auto& previous_id_registry = details::GlobalSequenceRegistry(); |
| 51 | |
| 52 | // find the previous id in the registry. |
| 53 | auto it = previous_id_registry.find(entry.get()); |
| 54 | if(it != previous_id_registry.end()) |
| 55 | { |
| 56 | previous_id = it->second; |
| 57 | } |
| 58 | if(previous_id != current_id) |
| 59 | { |
| 60 | previous_id_registry[entry.get()] = current_id; |
| 61 | }*/ |
| 62 | return (previous_id != current_id) ? NodeStatus::SUCCESS : NodeStatus::FAILURE; |
| 63 | } |
| 64 | else |
| 65 | { |
| 66 | return NodeStatus::FAILURE; |
| 67 | } |
| 68 | } |
| 69 | |
| 70 | } // namespace BT |