Method tick

src/controls/sequence_with_memory_node.cpp:24–91

}

NodeStatus SequenceWithMemory::tick()
{
  const size_t children_count = children_nodes_.size();

  if(!isStatusActive(status()))
  {
    skipped_count_ = 0;
  }
  setStatus(NodeStatus::RUNNING);

  while(current_child_idx_ < children_count)
  {
    TreeNode* current_child_node = children_nodes_[current_child_idx_];

    auto prev_status = current_child_node->status();
    const NodeStatus child_status = current_child_node->executeTick();

    switch(child_status)
    {
      case NodeStatus::RUNNING: {
        return child_status;
      }
      case NodeStatus::FAILURE: {
        // DO NOT reset current_child_idx_ on failure
        for(size_t i = current_child_idx_; i < childrenCount(); i++)
        {
          haltChild(i);
        }

        return child_status;
      }
      case NodeStatus::SUCCESS: {
        current_child_idx_++;
        // Return the execution flow if the child is async,
        // to make this interruptible.
        if(requiresWakeUp() && prev_status == NodeStatus::IDLE &&
           current_child_idx_ < children_count)
        {
          emitWakeUpSignal();
          return NodeStatus::RUNNING;
        }
      }
      break;

      case NodeStatus::SKIPPED: {
        // It was requested to skip this node
        current_child_idx_++;
        skipped_count_++;
      }
      break;

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

  // The entire while loop completed. This means that all the children returned SUCCESS.