Method tickRoot

src/bt_factory.cpp:718–756

}

NodeStatus Tree::tickRoot(TickOption opt, std::chrono::milliseconds sleep_time)
{
  NodeStatus status = NodeStatus::IDLE;

  if(!wake_up_)
  {
    initialize();
  }

  if(rootNode() == nullptr)
  {
    throw RuntimeError("Empty Tree");
  }

  while(status == NodeStatus::IDLE ||
        (opt == TickOption::WHILE_RUNNING && status == NodeStatus::RUNNING))
  {
    status = rootNode()->executeTick();

    // Inner loop. The previous tick might have triggered the wake-up
    // in this case, unless TickOption::EXACTLY_ONCE, we tick again
    while(opt != TickOption::EXACTLY_ONCE && status == NodeStatus::RUNNING &&
          wake_up_->waitFor(std::chrono::milliseconds(0)))
    {
      status = rootNode()->executeTick();
    }

    if(isStatusCompleted(status))
    {
      rootNode()->resetStatus();
    }
    if(status == NodeStatus::RUNNING && sleep_time.count() > 0)
    {
      sleep(std::chrono::milliseconds(sleep_time));
    }
  }

  return status;
}

void BlackboardRestore(const std::vector<Blackboard::Ptr>& backup, Tree& tree)
{