backport changes in 4.x and fix #643

Author: facontidavide

src/controls/reactive_fallback.cpp

@@ -26,7 +26,10 @@ NodeStatus ReactiveFallback::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        for (size_t i = index + 1; i < childrenCount(); i++)
+
+        // reset the previous children, to make sure that they are in IDLE state
+        // the next time we tick them
+        for (size_t i = 0; i < index; i++)
         {
           haltChild(i);
         }

src/controls/reactive_sequence.cpp

@@ -17,7 +17,6 @@ namespace BT
 NodeStatus ReactiveSequence::tick()
 {
   size_t success_count = 0;
-  size_t running_count = 0;
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -27,9 +26,9 @@ NodeStatus ReactiveSequence::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        running_count++;
-
-        for (size_t i = index + 1; i < childrenCount(); i++)
+        // reset the previous children, to make sure that they are in IDLE state
+        // the next time we tick them
+        for (size_t i = 0; i < index; i++)
         {
           haltChild(i);
         }
@@ -51,6 +50,7 @@ NodeStatus ReactiveSequence::tick()
     }   // end switch
   }     //end for
 
+
   if (success_count == childrenCount())
   {
     resetChildren();

tests/CMakeLists.txt

@@ -15,6 +15,7 @@ set(BT_TESTS
   gtest_blackboard.cpp
   gtest_blackboard_precondition.cpp
   gtest_ports.cpp
+  gtest_reactive.cpp
   navigation_test.cpp
   gtest_subtree.cpp
   gtest_switch.cpp

tests/gtest_reactive.cpp

@@ -0,0 +1,69 @@
+#include <gtest/gtest.h>
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "test_helper.hpp"
+#include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
+
+using BT::NodeStatus;
+using std::chrono::milliseconds;
+
+class SleepNode : public BT::StatefulActionNode
+{
+public:
+
+  SleepNode(const std::string& name, const BT::NodeConfiguration& config):
+    StatefulActionNode(name, config) {}
+
+  NodeStatus onStart() override {
+    count_ = 0;
+    return NodeStatus::RUNNING;
+  }
+
+  NodeStatus onRunning() override {
+    return ++count_ < 10 ? NodeStatus::RUNNING : NodeStatus::SUCCESS;
+  }
+
+  void onHalted() override {}
+
+  static BT::PortsList providedPorts(){
+    return {};
+  }
+
+private:
+  int count_ = 0;
+};
+
+
+TEST(Reactive, TestLogging)
+{
+  using namespace BT;
+
+  static const char* reactive_xml_text = R"(
+<root>
+  <BehaviorTree ID="Main">
+    <ReactiveSequence>
+      <TestA name="testA"/>
+      <AlwaysSuccess name="success"/>
+      <Sleep/>
+    </ReactiveSequence>
+  </BehaviorTree>
+</root>
+)";
+
+  BehaviorTreeFactory factory;
+
+  factory.registerNodeType<SleepNode>("Sleep");
+
+  std::array<int, 1> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  auto tree = factory.createTreeFromText(reactive_xml_text);
+  StdCoutLogger logger(tree);
+
+  auto ret = tree.tickRootWhileRunning();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+
+  int num_ticks = counters[0];
+  ASSERT_GE(num_ticks, 10);
+}
+
+

tests/test_helper.hpp

@@ -0,0 +1,27 @@
+#ifndef TEST_HELPER_HPP
+#define TEST_HELPER_HPP
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+inline BT::NodeStatus TestTick(int* tick_counter)
+{
+  (*tick_counter)++;
+  return BT::NodeStatus::SUCCESS;
+}
+
+template <size_t N> inline
+    void RegisterTestTick(BT::BehaviorTreeFactory& factory, const std::string& name_prefix,
+                     std::array<int, N>& tick_counters)
+{
+  for(size_t i=0; i<tick_counters.size(); i++)
+  {
+    tick_counters[i] = false;
+    char str[100];
+    sprintf(str, "%s%c", name_prefix.c_str(), char('A'+i ) );
+    int* counter_ptr = &(tick_counters[i]);
+    factory.registerSimpleAction(str, std::bind(&TestTick, counter_ptr));
+  }
+}
+
+
+#endif // TEST_HELPER_HPP