Method tick

src/decorators/repeat_node.cpp:35–96

{}

NodeStatus RepeatNode::tick()
{
  if(read_parameter_from_ports_)
  {
    if(!getInput(NUM_CYCLES, num_cycles_))
    {
      throw RuntimeError("Missing parameter [", NUM_CYCLES, "] in RepeatNode");
    }
  }

  bool do_loop = repeat_count_ < num_cycles_ || num_cycles_ == -1;
  setStatus(NodeStatus::RUNNING);

  while(do_loop)
  {
    const NodeStatus prev_status = child_node_->status();
    const NodeStatus child_status = child_node_->executeTick();

    switch(child_status)
    {
      case NodeStatus::SUCCESS: {
        repeat_count_++;
        do_loop = repeat_count_ < num_cycles_ || num_cycles_ == -1;

        resetChild();

        // Return the execution flow if the child is async,
        // to make this interruptible.
        if(requiresWakeUp() && prev_status == NodeStatus::IDLE && do_loop)
        {
          emitWakeUpSignal();
          return NodeStatus::RUNNING;
        }
      }
      break;

      case NodeStatus::FAILURE: {
        repeat_count_ = 0;
        resetChild();
        return (NodeStatus::FAILURE);
      }

      case NodeStatus::RUNNING: {
        return NodeStatus::RUNNING;
      }

      case NodeStatus::SKIPPED: {
        // to allow it to be skipped again, we must reset the node
        resetChild();
        // the child has been skipped. Skip the decorator too.
        // Don't reset the counter, though !
        return NodeStatus::SKIPPED;
      }
      case NodeStatus::IDLE: {
        throw LogicError("[", name(), "]: A children should not return IDLE");
      }
    }
  }