Method tick

src/controls/try_catch_node.cpp:55–132

}

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

  if(children_count < 2)
  {
    throw LogicError("[", name(), "]: TryCatch requires at least 2 children");
  }

  if(!isStatusActive(status()))
  {
    skipped_count_ = 0;
    in_catch_ = false;
  }

  setStatus(NodeStatus::RUNNING);

  const size_t try_count = children_count - 1;

  // If we are in catch mode, tick the last child (cleanup)
  if(in_catch_)
  {
    TreeNode* catch_child = children_nodes_.back();
    const NodeStatus catch_status = catch_child->executeTick();

    if(catch_status == NodeStatus::RUNNING)
    {
      return NodeStatus::RUNNING;
    }

    // Catch child finished (SUCCESS or FAILURE): return FAILURE
    resetChildren();
    current_child_idx_ = 0;
    in_catch_ = false;
    return NodeStatus::FAILURE;
  }

  // Try-block: execute children 0..N-2 as a Sequence
  while(current_child_idx_ < try_count)
  {
    TreeNode* current_child_node = children_nodes_[current_child_idx_];
    const NodeStatus child_status = current_child_node->executeTick();

    switch(child_status)
    {
      case NodeStatus::RUNNING: {
        return NodeStatus::RUNNING;
      }
      case NodeStatus::FAILURE: {
        // Enter catch mode: halt try-block children, then tick catch child
        resetChildren();
        current_child_idx_ = 0;
        in_catch_ = true;
        return tick();  // re-enter to tick the catch child
      }
      case NodeStatus::SUCCESS: {
        current_child_idx_++;
      }