public EBTStatus resume(Agent pAgent, EBTStatus status)
{
BranchTask parent = null;
BehaviorTask currentTask = base.m_currentTask;
while (currentTask != null)
{
BranchTask task3 = currentTask as BranchTask;
if (task3 != null)
{
parent = task3;
currentTask = task3.GetCurrentTask();
}
else
{
parent = currentTask.GetParent();
break;
}
}
if (parent != null)
{
parent.onexit_action(pAgent, status);
parent.SetReturnStatus(status);
}
return(status);
}
public EBTStatus resume(Agent pAgent, EBTStatus status)
{
BranchTask prev = null;
BehaviorTask p = this.m_currentTask;
while (p != null)
{
BranchTask branch = p as BranchTask;
if (branch != null)
{
prev = branch;
p = branch.GetCurrentTask();
}
else
{
prev = p.GetParent();
break;
}
}
if (prev != null)
{
//prev is the last interrupted node, to find and let its parent update with 'status' which is the subtree's return status
Debug.Check(status == EBTStatus.BT_SUCCESS || status == EBTStatus.BT_FAILURE);
prev.onexit_action(pAgent, status);
prev.SetReturnStatus(status);
}
return(status);
}
protected EBTStatus tickCurrentNode(Agent pAgent)
{
EBTStatus status = this.m_currentTask.GetStatus();
if ((status != EBTStatus.BT_INVALID) && (status != EBTStatus.BT_RUNNING))
{
return(status);
}
BehaviorTask currentTask = this.m_currentTask;
EBTStatus childStatus = this.m_currentTask.exec(pAgent);
if (childStatus != EBTStatus.BT_RUNNING)
{
BranchTask parent = currentTask.GetParent();
this.SetCurrentTask(null);
while ((parent != null) && (parent != this))
{
childStatus = parent.update(pAgent, childStatus);
if (childStatus == EBTStatus.BT_RUNNING)
{
return(EBTStatus.BT_RUNNING);
}
parent.onexit_action(pAgent, childStatus);
parent.m_status = childStatus;
parent = parent.GetParent();
}
}
return(childStatus);
}
protected EBTStatus tickCurrentNode(Agent pAgent)
{
Debug.Check(this.m_currentTask != null);
EBTStatus s = this.m_currentTask.GetStatus();
if (s == EBTStatus.BT_INVALID || s == EBTStatus.BT_RUNNING)
{
//this.m_currentTask could be cleared in ::tick, to remember it
BehaviorTask currentTask = this.m_currentTask;
EBTStatus status = this.m_currentTask.exec(pAgent);
//give the handling back to parents
if (status != EBTStatus.BT_RUNNING)
{
Debug.Check(currentTask.m_status == EBTStatus.BT_SUCCESS ||
currentTask.m_status == EBTStatus.BT_FAILURE ||
(currentTask.m_status == EBTStatus.BT_INVALID && currentTask.NeedRestart()));
BranchTask parentBranch = currentTask.GetParent();
this.SetCurrentTask(null);
//back track the parents until the branch
while (parentBranch != null && parentBranch != this)
{
status = parentBranch.update(pAgent, status);
if (status == EBTStatus.BT_RUNNING)
{
return(EBTStatus.BT_RUNNING);
}
parentBranch.onexit_action(pAgent, status);
parentBranch.m_status = status;
Debug.Check(parentBranch.m_currentTask == null);
parentBranch = parentBranch.GetParent();
}
}
return(status);
}
return(s);
}
public EBTStatus resume(Agent pAgent, EBTStatus status)
{
BranchTask branchTask = null;
BranchTask branchTask2;
for (BehaviorTask currentTask = this.m_currentTask; currentTask != null; currentTask = branchTask2.GetCurrentTask())
{
branchTask2 = (currentTask as BranchTask);
if (branchTask2 == null)
{
branchTask = currentTask.GetParent();
break;
}
branchTask = branchTask2;
}
if (branchTask != null)
{
branchTask.onexit_action(pAgent, status);
branchTask.SetReturnStatus(status);
}
return(status);
}
