| 38 | } |
| 39 | |
| 40 | NodeStatus RetryNode::tick() |
| 41 | { |
| 42 | if(read_parameter_from_ports_) |
| 43 | { |
| 44 | if(!getInput(NUM_ATTEMPTS, max_attempts_)) |
| 45 | { |
| 46 | throw RuntimeError("Missing parameter [", NUM_ATTEMPTS, "] in RetryNode"); |
| 47 | } |
| 48 | } |
| 49 | |
| 50 | bool do_loop = try_count_ < max_attempts_ || max_attempts_ == -1; |
| 51 | setStatus(NodeStatus::RUNNING); |
| 52 | |
| 53 | while(do_loop) |
| 54 | { |
| 55 | const NodeStatus prev_status = child_node_->status(); |
| 56 | const NodeStatus child_status = child_node_->executeTick(); |
| 57 | |
| 58 | switch(child_status) |
| 59 | { |
| 60 | case NodeStatus::SUCCESS: { |
| 61 | try_count_ = 0; |
| 62 | resetChild(); |
| 63 | return (NodeStatus::SUCCESS); |
| 64 | } |
| 65 | |
| 66 | case NodeStatus::FAILURE: { |
| 67 | try_count_++; |
| 68 | // Refresh max_attempts_ in case it changed in one of the child nodes |
| 69 | getInput(NUM_ATTEMPTS, max_attempts_); |
| 70 | do_loop = try_count_ < max_attempts_ || max_attempts_ == -1; |
| 71 | |
| 72 | resetChild(); |
| 73 | |
| 74 | // Return the execution flow if the child is async, |
| 75 | // to make this interruptible. |
| 76 | if(requiresWakeUp() && prev_status == NodeStatus::IDLE && do_loop) |
| 77 | { |
| 78 | emitWakeUpSignal(); |
| 79 | return NodeStatus::RUNNING; |
| 80 | } |
| 81 | } |
| 82 | break; |
| 83 | |
| 84 | case NodeStatus::RUNNING: { |
| 85 | return NodeStatus::RUNNING; |
| 86 | } |
| 87 | |
| 88 | case NodeStatus::SKIPPED: { |
| 89 | // to allow it to be skipped again, we must reset the node |
| 90 | resetChild(); |
| 91 | // the child has been skipped. Slip this too |
| 92 | return NodeStatus::SKIPPED; |
| 93 | } |
| 94 | |
| 95 | case NodeStatus::IDLE: { |
| 96 | throw LogicError("[", name(), "]: A children should not return IDLE"); |
| 97 | } |
nothing calls this directly
no test coverage detected