Replace the while loop with an if statement because placing a while s…

CMakeLists.txt

@@ -113,6 +113,7 @@ list(APPEND BT_SOURCE
     src/controls/if_then_else_node.cpp
     src/controls/fallback_node.cpp
     src/controls/parallel_node.cpp
+    src/controls/reactive_parallel_node.cpp
     src/controls/parallel_all_node.cpp
     src/controls/reactive_sequence.cpp
     src/controls/reactive_fallback.cpp

examples/CMakeLists.txt

@@ -1,62 +1,62 @@
-include_directories( ../sample_nodes )
-
-set(CMAKE_DEBUG_POSTFIX "")
-
-function(CompileExample name)
-    add_executable(${name}  ${name}.cpp )
-    target_link_libraries(${name} ${BTCPP_LIBRARY}  bt_sample_nodes )
-endfunction()
-
-
-# The plugin libdummy_nodes.so can be linked statically or
-# loaded dynamically at run-time.
-add_executable(t01_first_tree_static  t01_build_your_first_tree.cpp )
-target_compile_definitions(t01_first_tree_static PRIVATE "MANUAL_STATIC_LINKING")
-target_link_libraries(t01_first_tree_static ${BTCPP_LIBRARY}   bt_sample_nodes )
-
-add_executable(t01_first_tree_dynamic  t01_build_your_first_tree.cpp )
-target_link_libraries(t01_first_tree_dynamic ${BTCPP_LIBRARY}  )
-
-CompileExample("t02_basic_ports")
-CompileExample("t03_generic_ports")
-CompileExample("t04_reactive_sequence")
-CompileExample("t05_crossdoor")
-CompileExample("t06_subtree_port_remapping")
-CompileExample("t07_load_multiple_xml")
-CompileExample("t08_additional_node_args")
-CompileExample("t09_scripting")
-CompileExample("t10_observer")
-
-if(BTCPP_GROOT_INTERFACE)
-  CompileExample("t11_groot_howto")
-endif()
-
-CompileExample("t12_default_ports")
-CompileExample("t13_access_by_ref")
-CompileExample("t14_subtree_model")
-CompileExample("t15_nodes_mocking")
-CompileExample("t16_global_blackboard")
-CompileExample("t17_blackboard_backup")
-CompileExample("t18_waypoints")
-
-CompileExample("ex01_wrap_legacy")
-CompileExample("ex02_runtime_ports")
-
-if(BTCPP_SQLITE_LOGGING)
-  CompileExample("ex03_sqlite_log")
-endif()
-
-
-############ Create plugin and executor in folder plugin_example ##########
-
-# library must be SHARED
-add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
-# you must set the definition BT_PLUGIN_EXPORT
-target_compile_definitions(test_plugin_action PRIVATE  BT_PLUGIN_EXPORT )
-# remove the "lib" prefix. Name of the file will be test_plugin_action.so
-set_target_properties(test_plugin_action PROPERTIES PREFIX "")
-# link dependencies as usual
-target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )
-
-add_executable(test_plugin_executor  plugin_example/plugin_executor.cpp )
-target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})
+# include_directories( ../sample_nodes )
+
+# set(CMAKE_DEBUG_POSTFIX "")
+
+# function(CompileExample name)
+#     add_executable(${name}  ${name}.cpp )
+#     target_link_libraries(${name} ${BTCPP_LIBRARY}  bt_sample_nodes )
+# endfunction()
+
+
+# # The plugin libdummy_nodes.so can be linked statically or
+# # loaded dynamically at run-time.
+# add_executable(t01_first_tree_static  t01_build_your_first_tree.cpp )
+# target_compile_definitions(t01_first_tree_static PRIVATE "MANUAL_STATIC_LINKING")
+# target_link_libraries(t01_first_tree_static ${BTCPP_LIBRARY}   bt_sample_nodes )
+
+# add_executable(t01_first_tree_dynamic  t01_build_your_first_tree.cpp )
+# target_link_libraries(t01_first_tree_dynamic ${BTCPP_LIBRARY}  )
+
+# CompileExample("t02_basic_ports")
+# CompileExample("t03_generic_ports")
+# CompileExample("t04_reactive_sequence")
+# CompileExample("t05_crossdoor")
+# CompileExample("t06_subtree_port_remapping")
+# CompileExample("t07_load_multiple_xml")
+# CompileExample("t08_additional_node_args")
+# CompileExample("t09_scripting")
+# CompileExample("t10_observer")
+
+# if(BTCPP_GROOT_INTERFACE)
+#   CompileExample("t11_groot_howto")
+# endif()
+
+# CompileExample("t12_default_ports")
+# CompileExample("t13_access_by_ref")
+# CompileExample("t14_subtree_model")
+# CompileExample("t15_nodes_mocking")
+# CompileExample("t16_global_blackboard")
+# CompileExample("t17_blackboard_backup")
+# CompileExample("t18_waypoints")
+
+# CompileExample("ex01_wrap_legacy")
+# CompileExample("ex02_runtime_ports")
+
+# if(BTCPP_SQLITE_LOGGING)
+#   CompileExample("ex03_sqlite_log")
+# endif()
+
+
+# ############ Create plugin and executor in folder plugin_example ##########
+
+# # library must be SHARED
+# add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
+# # you must set the definition BT_PLUGIN_EXPORT
+# target_compile_definitions(test_plugin_action PRIVATE  BT_PLUGIN_EXPORT )
+# # remove the "lib" prefix. Name of the file will be test_plugin_action.so
+# set_target_properties(test_plugin_action PROPERTIES PREFIX "")
+# # link dependencies as usual
+# target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )
+
+# add_executable(test_plugin_executor  plugin_example/plugin_executor.cpp )
+# target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})

include/behaviortree_cpp/controls/reactive_parallel_node.h

@@ -0,0 +1,84 @@
+/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
+ * Copyright (C) 2018-2022 Davide Faconti, Eurecat -  All Rights Reserved
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#pragma once
+
+#include <set>
+#include "behaviortree_cpp/control_node.h"
+
+namespace BT
+{
+/**
+ * @brief The ReactiveParallelNode execute all its children
+ * __concurrently__, but not in separate threads!
+ *
+ * Even if this may look similar to ReactiveSequence,
+ * this Control Node is the __only__ one that can have
+ * multiple children RUNNING at the same time.
+ * 
+ * It is more powerful than ParallelNode in checking conditions because even if a child already returns SUCCESS,
+ * it will still tick that child again before moving on to other children. 
+ * 
+ * It also differs from ParallelNode in that it will tick all children before deciding whether THRESHOLD_SUCCESS
+ * or THRESHOLD_FAILURE has been reached.
+ *
+ * The Node is completed either when the THRESHOLD_SUCCESS
+ * or THRESHOLD_FAILURE number is reached (both configured using ports).
+ *
+ * If any of the thresholds is reached, and other children are still running,
+ * they will be halted.
+ *
+ * Note that threshold indexes work as in Python:
+ * https://www.i2tutorials.com/what-are-negative-indexes-and-why-are-they-used/
+ *
+ * Therefore -1 is equivalent to the number of children.
+ */
+class ReactiveParallelNode : public ControlNode
+{
+public:
+  ReactiveParallelNode(const std::string& name);
+
+  ReactiveParallelNode(const std::string& name, const NodeConfig& config);
+
+  static PortsList providedPorts()
+  {
+    return { InputPort<int>(THRESHOLD_SUCCESS, -1,
+                            "number of children that need to succeed to trigger a "
+                            "SUCCESS"),
+             InputPort<int>(THRESHOLD_FAILURE, 1,
+                            "number of children that need to fail to trigger a "
+                            "FAILURE") };
+  }
+
+  ~ReactiveParallelNode() override = default;
+
+  virtual void halt() override;
+
+  size_t successThreshold() const;
+  size_t failureThreshold() const;
+  void setSuccessThreshold(int threshold);
+  void setFailureThreshold(int threshold);
+
+private:
+  int success_threshold_;
+  int failure_threshold_;
+
+  bool read_parameter_from_ports_;
+  static constexpr const char* THRESHOLD_SUCCESS = "success_count";
+  static constexpr const char* THRESHOLD_FAILURE = "failure_count";
+
+  virtual BT::NodeStatus tick() override;
+
+};
+
+}  // namespace BT

sample_nodes/CMakeLists.txt

@@ -1,47 +1,47 @@
-include_directories( ../include )
+# include_directories( ../include )
 
-# compile as static libraries
+# # compile as static libraries
 
-set(CMAKE_DEBUG_POSTFIX "")
+# set(CMAKE_DEBUG_POSTFIX "")
 
-add_library(bt_sample_nodes STATIC
-    crossdoor_nodes.cpp
-    dummy_nodes.cpp
-    movebase_node.cpp )
+# add_library(bt_sample_nodes STATIC
+#     crossdoor_nodes.cpp
+#     dummy_nodes.cpp
+#     movebase_node.cpp )
 
-target_link_libraries(bt_sample_nodes PRIVATE ${BTCPP_LIBRARY})
-set_target_properties(bt_sample_nodes PROPERTIES ARCHIVE_OUTPUT_DIRECTORY
-    ${BTCPP_LIB_DESTINATION} )
+# target_link_libraries(bt_sample_nodes PRIVATE ${BTCPP_LIBRARY})
+# set_target_properties(bt_sample_nodes PROPERTIES ARCHIVE_OUTPUT_DIRECTORY
+#     ${BTCPP_LIB_DESTINATION} )
 
-# to create a plugin, compile them in this way instead
+# # to create a plugin, compile them in this way instead
 
-add_library(crossdoor_nodes_dyn SHARED crossdoor_nodes.cpp )
-target_link_libraries(crossdoor_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
-target_compile_definitions(crossdoor_nodes_dyn PRIVATE  BT_PLUGIN_EXPORT )
-set_target_properties(crossdoor_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
-    ${BTCPP_BIN_DESTINATION} )
+# add_library(crossdoor_nodes_dyn SHARED crossdoor_nodes.cpp )
+# target_link_libraries(crossdoor_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
+# target_compile_definitions(crossdoor_nodes_dyn PRIVATE  BT_PLUGIN_EXPORT )
+# set_target_properties(crossdoor_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+#     ${BTCPP_BIN_DESTINATION} )
 
-add_library(dummy_nodes_dyn     SHARED dummy_nodes.cpp )
-target_link_libraries(dummy_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
-target_compile_definitions(dummy_nodes_dyn  PRIVATE BT_PLUGIN_EXPORT)
-set_target_properties(dummy_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
-    ${BTCPP_BIN_DESTINATION} )
+# add_library(dummy_nodes_dyn     SHARED dummy_nodes.cpp )
+# target_link_libraries(dummy_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
+# target_compile_definitions(dummy_nodes_dyn  PRIVATE BT_PLUGIN_EXPORT)
+# set_target_properties(dummy_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+#     ${BTCPP_BIN_DESTINATION} )
 
 
-add_library(movebase_node_dyn   SHARED movebase_node.cpp )
-target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
-target_compile_definitions(movebase_node_dyn PRIVATE  BT_PLUGIN_EXPORT )
-set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
-    ${BTCPP_BIN_DESTINATION} )
+# add_library(movebase_node_dyn   SHARED movebase_node.cpp )
+# target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
+# target_compile_definitions(movebase_node_dyn PRIVATE  BT_PLUGIN_EXPORT )
+# set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+#     ${BTCPP_BIN_DESTINATION} )
 
-######################################################
-# INSTALL plugins for other packages to load
+# ######################################################
+# # INSTALL plugins for other packages to load
 
-INSTALL(TARGETS
-    crossdoor_nodes_dyn
-    dummy_nodes_dyn
-    movebase_node_dyn
-    LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
-    ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
-    RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
-)
+# INSTALL(TARGETS
+#     crossdoor_nodes_dyn
+#     dummy_nodes_dyn
+#     movebase_node_dyn
+#     LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
+#     ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
+#     RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
+# )