Method tick

src/controls/parallel_all_node.cpp:25–103

{}

NodeStatus ParallelAllNode::tick()
{
  int max_failures = 0;
  if(!getInput("max_failures", max_failures))
  {
    throw RuntimeError("Missing parameter [max_failures] in ParallelNode");
  }
  const size_t children_count = children_nodes_.size();
  setFailureThreshold(max_failures);

  size_t skipped_count = 0;

  if(children_count < failure_threshold_)
  {
    throw LogicError("Number of children is less than threshold. Can never fail.");
  }

  setStatus(NodeStatus::RUNNING);

  // Routing the tree according to the sequence node's logic:
  for(size_t index = 0; index < children_count; index++)
  {
    TreeNode* child_node = children_nodes_[index];

    // already completed
    if(completed_list_.count(index) != 0)
    {
      continue;
    }

    NodeStatus const child_status = child_node->executeTick();

    switch(child_status)
    {
      case NodeStatus::SUCCESS: {
        completed_list_.insert(index);
      }
      break;

      case NodeStatus::FAILURE: {
        completed_list_.insert(index);
        failure_count_++;
      }
      break;

      case NodeStatus::RUNNING: {
        // Still working. Check the next
      }
      break;

      case NodeStatus::SKIPPED: {
        skipped_count++;
      }
      break;

      case NodeStatus::IDLE: {
        throw LogicError("[", name(), "]: A children should not return IDLE");
      }