rebane haltChildren to resetChildren

Author: facontidavide

include/behaviortree_cpp_v3/control_node.h

@@ -42,6 +42,7 @@ class ControlNode : public TreeNode
 
   virtual void halt() override;
 
+  /// same as resetChildren()
   void haltChildren();
 
   [[deprecated("deprecated: please use explicitly haltChildren() or haltChild(i)")]] void
@@ -53,5 +54,9 @@ class ControlNode : public TreeNode
   {
     return NodeType::CONTROL;
   }
+
+  /// Set the status of all children to IDLE.
+  /// also send a halt() signal to all RUNNING children
+  void resetChildren();
 };
 }   // namespace BT

include/behaviortree_cpp_v3/controls/switch_node.h

@@ -119,7 +119,7 @@ inline NodeStatus SwitchNode<NUM_CASES>::tick()
   }
   else
   {
-    haltChildren();
+    resetChildren();
     running_child_ = -1;
   }
   return ret;

include/behaviortree_cpp_v3/decorator_node.h

@@ -24,7 +24,7 @@ class DecoratorNode : public TreeNode
   /// The method used to interrupt the execution of this node
   virtual void halt() override;
 
-  /// Halt() the child node
+  /// Same as resetChild()
   void haltChild();
 
   virtual NodeType type() const override
@@ -33,6 +33,10 @@ class DecoratorNode : public TreeNode
   }
 
   NodeStatus executeTick() override;
+
+  /// Set the status of the child to IDLE.
+  /// also send a halt() signal to a RUNNING child
+  void resetChild();
 };
 
 /**

src/control_node.cpp

@@ -31,7 +31,19 @@ size_t ControlNode::childrenCount() const
 
 void ControlNode::halt()
 {
-  haltChildren();
+  resetChildren();
+}
+
+void ControlNode::resetChildren()
+{
+  for (auto child: children_nodes_)
+  {
+    if (child->status() == NodeStatus::RUNNING)
+    {
+      child->halt();
+    }
+    child->resetStatus();
+  }
 }
 
 const std::vector<TreeNode*>& ControlNode::children() const

src/controls/fallback_node.cpp

@@ -38,7 +38,7 @@ NodeStatus FallbackNode::tick()
         return child_status;
       }
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -56,7 +56,7 @@ NodeStatus FallbackNode::tick()
   // The entire while loop completed. This means that all the children returned FAILURE.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
 

src/controls/if_then_else_node.cpp

@@ -71,7 +71,7 @@ NodeStatus IfThenElseNode::tick()
     }
     else
     {
-      haltChildren();
+      resetChildren();
       child_idx_ = 0;
       return status;
     }

src/controls/parallel_node.cpp

@@ -97,7 +97,7 @@ NodeStatus ParallelNode::tick()
         if (success_childred_num == successThreshold())
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::SUCCESS;
         }
       }
@@ -116,7 +116,7 @@ NodeStatus ParallelNode::tick()
             (failure_childred_num == failureThreshold()))
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::FAILURE;
         }
       }

src/controls/reactive_fallback.cpp

@@ -39,7 +39,7 @@ NodeStatus ReactiveFallback::tick()
       break;
 
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::SUCCESS;
       }
 
@@ -51,7 +51,7 @@ NodeStatus ReactiveFallback::tick()
 
   if (failure_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::FAILURE;
   }
 

src/controls/reactive_sequence.cpp

@@ -37,7 +37,7 @@ NodeStatus ReactiveSequence::tick()
       }
 
       case NodeStatus::FAILURE: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::FAILURE;
       }
       case NodeStatus::SUCCESS: {
@@ -53,7 +53,7 @@ NodeStatus ReactiveSequence::tick()
 
   if (success_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::SUCCESS;
   }
   return NodeStatus::RUNNING;

src/controls/sequence_node.cpp

@@ -46,7 +46,7 @@ NodeStatus SequenceNode::tick()
       }
       case NodeStatus::FAILURE: {
         // Reset on failure
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -64,7 +64,7 @@ NodeStatus SequenceNode::tick()
   // The entire while loop completed. This means that all the children returned SUCCESS.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
   return NodeStatus::SUCCESS;