BEHAVIOR_STATUS SequentialNode::execute(void* agent)
{
if (currentPosition == -1) //starting out
{
init(agent);
currentPosition = 0;
}
if (children.size() == 0)
return BT_SUCCESS;
BehaviorTreeNode* currentTask = children.at(currentPosition);
BEHAVIOR_STATUS result = currentTask->execute(agent);
while(result == BT_SUCCESS)
{
if (currentPosition == children.size()-1) //finished last task
{
currentPosition = -1; //indicate we are not running anything
return BT_SUCCESS;
}
else
{
currentPosition++;
currentTask = children.at(currentPosition);
result = currentTask->execute(agent);
}
}
if (result == BT_FAILURE)
currentPosition = -1;
return result;
}
BEHAVIOR_STATUS CNodePriorityInterrupt::execute(void* agent)
{
if (children.size() == 0)
return BT_SUCCESS;
if (currentPosition == -1)
init(agent);
// Nodo que vamos a comprobar a continuación
int checkedNode = 0;
BEHAVIOR_STATUS status;
BehaviorTreeNode* currentlyRunningNode;
while (checkedNode < children.size()) //keep trying children until one doesn't fail
{
currentlyRunningNode = children.at(checkedNode);
status = currentlyRunningNode->execute(agent);
if (status == BT_FAILURE) {
// Si el nodo falla al ejecutarse lo reiniciamos y pasamos al siguiente
currentlyRunningNode->init(agent);
checkedNode++;
} else {
// Si el nodo actual se ejecuta tenemos que comprobar si se ha interrumpido
// la ejecución de otro nodo menos prioritario, para poder reinicializarlo.
// El último nodo no ejecutado se almacena en currentPosition.
// Tendremos que comprobar si tiene menos prioridad, es decir, si su índice
// es mayor que el que ocupa el que acabamos de ejecutar con éxito.
if (checkedNode < currentPosition)
children.at(currentPosition)->init(agent);
// Si el nodo ha terminado con éxito, el selector también termina con éxito
if (status == BT_SUCCESS) {
// Además, dejamos inicializado el nodo que acaba de terminar para la próxima vuelta
currentlyRunningNode->init(agent);
currentPosition = 0;
return BT_SUCCESS;
} else {
// Sólo queda que el status sea BT_RUNNING
// En este caso actualizamos el nodo actual por si ha cambiado
currentPosition = checkedNode;
return BT_RUNNING;
}
//assert(!"BT in an unsupported state");
}
}
// Si ha llegado al final de la lista de nodos y todos han fallado el selector
// tendrá también que fallar
currentPosition = 0;
return BT_FAILURE;
}
BEHAVIOR_STATUS ParallelNode::execute(void* agent)
{
if (childrenStatus == NULL)
init(agent);
// go through all children and update the childrenStatus
for (unsigned int i = 0 ; i<children.size(); i++)
{
BehaviorTreeNode* node = children[i];
if ((*childrenStatus)[node] == BT_RUNNING)
{
BEHAVIOR_STATUS status = node->execute(agent);
if (status == BT_FAILURE)
{
if (failPolicy == FAIL_ON_ONE)
{
init(agent);
return BT_FAILURE;
}
else
{
(*childrenStatus)[node] = BT_FAILURE;
}
}
if (status == BT_SUCCESS)
(*childrenStatus)[node] = BT_SUCCESS;
}
if ((*childrenStatus)[node] == BT_FAILURE && failPolicy == FAIL_ON_ALL) //theoretically the failPolicy check is not needed
{
BEHAVIOR_STATUS status = node->execute(agent);
(*childrenStatus)[node] = status;
}
}
//look through the childrenStatus and see if we have met any of our end conditions
ChildrenStatusMap::iterator iter;
bool sawSuccess = false;
bool sawAllFails = true;
bool sawAllSuccess = true;
for (iter = childrenStatus->begin(); iter != childrenStatus->end() ; iter++)
{
switch((*iter).second)
{
case BT_SUCCESS:
//can't instantly return success for succeedOnOne policy if failOnOne is also true, because failOnOne overrides succeedOnOne
if (succeedPolicy == SUCCEED_ON_ONE && failPolicy != FAIL_ON_ONE)
{
init(agent);
return BT_SUCCESS;
}
sawSuccess = true;
sawAllFails = false;
break;
case BT_FAILURE:
if (failPolicy == FAIL_ON_ONE)
{
init(agent);
return BT_FAILURE;
}
sawAllSuccess = false;
break;
case BT_RUNNING:
sawAllFails = false;
sawAllSuccess = false;
//optimization for early exit
if (failPolicy == FAIL_ON_ALL && succeedPolicy == SUCCEED_ON_ALL)
{
return BT_RUNNING;
}
break;
}
}
if (failPolicy == FAIL_ON_ALL && sawAllFails)
{
init(agent);
return BT_FAILURE;
}
else if ((succeedPolicy == SUCCEED_ON_ALL && sawAllSuccess) ||
(succeedPolicy == SUCCEED_ON_ONE && sawSuccess))
{
init(agent);
return BT_SUCCESS;
}
else
{
return BT_RUNNING;
}
}