| 37 | } |
| 38 | |
| 39 | NodeStatus SequenceNode::tick() |
| 40 | { |
| 41 | const size_t children_count = children_nodes_.size(); |
| 42 | |
| 43 | if(!isStatusActive(status())) |
| 44 | { |
| 45 | skipped_count_ = 0; |
| 46 | } |
| 47 | |
| 48 | setStatus(NodeStatus::RUNNING); |
| 49 | |
| 50 | while(current_child_idx_ < children_count) |
| 51 | { |
| 52 | TreeNode* current_child_node = children_nodes_[current_child_idx_]; |
| 53 | |
| 54 | auto prev_status = current_child_node->status(); |
| 55 | const NodeStatus child_status = current_child_node->executeTick(); |
| 56 | |
| 57 | switch(child_status) |
| 58 | { |
| 59 | case NodeStatus::RUNNING: { |
| 60 | return NodeStatus::RUNNING; |
| 61 | } |
| 62 | case NodeStatus::FAILURE: { |
| 63 | // Reset on failure |
| 64 | resetChildren(); |
| 65 | current_child_idx_ = 0; |
| 66 | return child_status; |
| 67 | } |
| 68 | case NodeStatus::SUCCESS: { |
| 69 | current_child_idx_++; |
| 70 | // Return the execution flow if the child is async, |
| 71 | // to make this interruptible. |
| 72 | if(asynch_ && requiresWakeUp() && prev_status == NodeStatus::IDLE && |
| 73 | current_child_idx_ < children_count) |
| 74 | { |
| 75 | emitWakeUpSignal(); |
| 76 | return NodeStatus::RUNNING; |
| 77 | } |
| 78 | } |
| 79 | break; |
| 80 | |
| 81 | case NodeStatus::SKIPPED: { |
| 82 | // It was requested to skip this node |
| 83 | current_child_idx_++; |
| 84 | skipped_count_++; |
| 85 | } |
| 86 | break; |
| 87 | |
| 88 | case NodeStatus::IDLE: { |
| 89 | throw LogicError("[", name(), "]: A children should not return IDLE"); |
| 90 | } |
| 91 | } // end switch |
| 92 | } // end while loop |
| 93 | |
| 94 | // The entire while loop completed. This means that all the children returned SUCCESS. |
| 95 | const bool all_children_skipped = (skipped_count_ == children_count); |
| 96 | if(current_child_idx_ == children_count) |
nothing calls this directly
no test coverage detected