EBTStatus SelectorLoopTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
//checking the preconditions and take the first action tree
uint32_t index = (uint32_t)-1;
for (uint32_t i = 0; i < this->m_children.size(); ++i)
{
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pPrecondTree = pSubTree->PreconditionNode();
EBTStatus status = pPrecondTree->exec(pAgent);
if (status == BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (uint32_t)-1)
{
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex)
{
WithPreconditionTask* pCurrentSubTree = (WithPreconditionTask*)this->m_children[this->m_activeChildIndex];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pCurrentSubTree));
BehaviorTask* pCurrentActionTree = pCurrentSubTree->Action();
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[index];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pActionTree = pSubTree->Action();
if (pCurrentActionTree != pActionTree)
{
pCurrentActionTree->abort(pAgent);
pCurrentSubTree->abort(pAgent);
this->m_activeChildIndex = index;
}
}
for (uint32_t i = 0; i < this->m_children.size(); ++i)
{
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
//dummy ticking so that the designer knows it is updating
EBTStatus statusDummy = pSubTree->exec(pAgent);
BEHAVIAC_ASSERT(statusDummy == BT_RUNNING);
BEHAVIAC_UNUSED_VAR(statusDummy);
//when i < index, the precondition is failure, so to continue
if (i < index)
{
continue;
}
if (i > index)
{
BehaviorTask* pPreconditionTree = pSubTree->PreconditionNode();
EBTStatus status = pPreconditionTree->exec(pAgent);
//to search for the first one whose precondition is success
if (status != BT_SUCCESS)
{
continue;
}
}
BehaviorTask* pActionTree = pSubTree->Action();
EBTStatus status = pActionTree->exec(pAgent);
if (status == BT_RUNNING)
{
this->m_activeChildIndex = index;
}
else
{
pActionTree->reset(pAgent);
if (status == BT_FAILURE || status == BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
BEHAVIAC_ASSERT(status == BT_RUNNING || status == BT_SUCCESS);
return status;
}
}
return BT_FAILURE;
}
EBTStatus SelectorLoopTask::update(Agent* pAgent, EBTStatus childStatus) {
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
int idx = -1;
if (childStatus != BT_RUNNING) {
BEHAVIAC_ASSERT(this->m_activeChildIndex != CompositeTask::InvalidChildIndex);
if (childStatus == BT_SUCCESS) {
return BT_SUCCESS;
} else if (childStatus == BT_FAILURE) {
//the next for starts from (idx + 1), so that it starts from next one after this failed one
idx = this->m_activeChildIndex;
} else {
BEHAVIAC_ASSERT(false);
}
}
//checking the preconditions and take the first action tree
uint32_t index = (uint32_t) - 1;
for (uint32_t i = (idx + 1); i < this->m_children.size(); ++i) {
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pre = pSubTree->PreconditionNode();
EBTStatus status = pre->exec(pAgent);
if (status == BT_SUCCESS) {
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (uint32_t) - 1) {
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex &&
this->m_activeChildIndex != (int)index) {
WithPreconditionTask* pCurrentSubTree = (WithPreconditionTask*)this->m_children[this->m_activeChildIndex];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pCurrentSubTree));
BehaviorTask* action = pCurrentSubTree->ActionNode();
BEHAVIAC_UNUSED_VAR(action);
pCurrentSubTree->abort(pAgent);
}
for (uint32_t i = index; i < this->m_children.size(); ++i) {
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
if (i > index) {
BehaviorTask* pre = pSubTree->PreconditionNode();
EBTStatus status = pre->exec(pAgent);
//to search for the first one whose precondition is success
if (status != BT_SUCCESS) {
continue;
}
}
BehaviorTask* action = pSubTree->ActionNode();
EBTStatus s = action->exec(pAgent);
if (s == BT_RUNNING) {
this->m_activeChildIndex = i;
pSubTree->m_status = BT_RUNNING;
} else {
//pActionTree->reset(pAgent);
pSubTree->m_status = s;
if (s == BT_FAILURE) {
//THE ACTION failed, to try the next one
continue;
}
}
BEHAVIAC_ASSERT(s == BT_RUNNING || s == BT_SUCCESS);
return s;
}
}
return BT_FAILURE;
}