| 27 | } |
| 28 | |
| 29 | NodeStatus IfThenElseNode::tick() |
| 30 | { |
| 31 | const size_t children_count = children_nodes_.size(); |
| 32 | |
| 33 | if(children_count != 2 && children_count != 3) |
| 34 | { |
| 35 | throw std::logic_error("IfThenElseNode must have either 2 or 3 children"); |
| 36 | } |
| 37 | |
| 38 | setStatus(NodeStatus::RUNNING); |
| 39 | |
| 40 | if(child_idx_ == 0) |
| 41 | { |
| 42 | const NodeStatus condition_status = children_nodes_[0]->executeTick(); |
| 43 | |
| 44 | if(condition_status == NodeStatus::RUNNING) |
| 45 | { |
| 46 | return condition_status; |
| 47 | } |
| 48 | if(condition_status == NodeStatus::SUCCESS) |
| 49 | { |
| 50 | child_idx_ = 1; |
| 51 | } |
| 52 | else if(condition_status == NodeStatus::FAILURE) |
| 53 | { |
| 54 | if(children_count == 3) |
| 55 | { |
| 56 | child_idx_ = 2; |
| 57 | } |
| 58 | else |
| 59 | { |
| 60 | return condition_status; |
| 61 | } |
| 62 | } |
| 63 | } |
| 64 | // not an else |
| 65 | if(child_idx_ > 0) |
| 66 | { |
| 67 | const NodeStatus status = children_nodes_[child_idx_]->executeTick(); |
| 68 | if(status == NodeStatus::RUNNING) |
| 69 | { |
| 70 | return NodeStatus::RUNNING; |
| 71 | } |
| 72 | resetChildren(); |
| 73 | child_idx_ = 0; |
| 74 | return status; |
| 75 | } |
| 76 | |
| 77 | throw std::logic_error("Something unexpected happened in IfThenElseNode"); |
| 78 | } |
| 79 | |
| 80 | } // namespace BT |
nothing calls this directly
no test coverage detected