public static void RunInterrupterBranch(IBTExecutor executor, int numTicks)
{
var counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < numTicks);
}
public static void RunInterrupterBranch(IBTExecutor executor, int numTicks)
{
var counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < numTicks);
}
/**
* This method ticks <code>executor</code> {@value #NUM_TICKS_LONG_TICK} times. If the executor
* finishes earlier, it is not ticked anymore, and the ticking process stops.
*
* @param executor
* the IBTExecutor that is ticked.
*/
private void longTick(IBTExecutor executor)
{
if (executor.GetStatus() == Status.Running || executor.GetStatus() == Status.Uninitialized)
{
int counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < NumTicksLongTick);
}
}
/**
* Evaluate all the guards that have not finished yet, that is, those whose
* result in {@link #guardsResults} is {@link Status#RUNNING}, by ticking
* them.
* <p>
* If all the guards have finished in failure, this method returns a Tuple
* whose first element is {@link Status#FAILURE}. If there is at least one
* guard still being evaluated, the first element of the Tuple contains
* {@link Status#RUNNING}. If all the guards have been evaluated and at
* least one has succeeded, the first element of the Tuple is
* {@link Status#SUCCESS}, and the second one is the index, over the list of
* guards ({@link #guardsExecutors}) , of the first guard (that with the
* highest priority) that has succeeded.
*
*/
private Tuple <Status, int> evaluateGuards()
{
bool oneRunning = false;
/* First, evaluate all the guards that have not finished yet. */
for (int i = 0; i < _guardsExecutors.Count; i++)
{
IBTExecutor guardExecutor = _guardsExecutors[i];
if (guardExecutor != null)
{
if (guardsResults[i] == Status.Running)
{
guardExecutor.Tick();
guardsResults[i] = guardExecutor.GetStatus();
if (guardsResults[i] == Status.Running)
{
oneRunning = true;
}
}
}
}
/* If there is at least one still running... */
if (oneRunning)
{
return(new Tuple <Status, int>(Status.Running, -1));
}
/* If all of them have finished we check which one succeeded first. */
for (int i = 0; i < guardsResults.Count; i++)
{
if (guardsResults[i] == Status.Success)
{
return(new Tuple <Status, int>(Status.Success, i));
}
}
/* Otherwise, the evaluation has failed. */
return(new Tuple <Status, int>(Status.Failure, -1));
}
/**
* This method ticks <code>executor</code> {@value #NUM_TICKS_LONG_TICK} times. If the executor
* finishes earlier, it is not ticked anymore, and the ticking process stops.
*
* @param executor
* the IBTExecutor that is ticked.
*/
private void longTick(IBTExecutor executor)
{
if (executor.GetStatus() == Status.Running || executor.GetStatus() == Status.Uninitialized)
{
int counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < NumTicksLongTick);
}
}
