Fix issue BehaviorTree#978 : skiped was not working properly

Author: facontidavide

src/controls/fallback_node.cpp

@@ -28,7 +28,7 @@ NodeStatus FallbackNode::tick()
 {
   const size_t children_count = children_nodes_.size();
 
-  if(status() == NodeStatus::IDLE)
+  if(!isStatusActive(status()))
   {
     skipped_count_ = 0;
   }
@@ -77,19 +77,22 @@ NodeStatus FallbackNode::tick()
   }    // end while loop
 
   // The entire while loop completed. This means that all the children returned FAILURE.
+  const bool all_children_skipped = (skipped_count_ == children_count);
   if(current_child_idx_ == children_count)
   {
     resetChildren();
     current_child_idx_ = 0;
+    skipped_count_ = 0;
   }
 
   // Skip if ALL the nodes have been skipped
-  return (skipped_count_ == children_count) ? NodeStatus::SKIPPED : NodeStatus::FAILURE;
+  return (all_children_skipped) ? NodeStatus::SKIPPED : NodeStatus::FAILURE;
 }
 
 void FallbackNode::halt()
 {
   current_child_idx_ = 0;
+  skipped_count_ = 0;
   ControlNode::halt();
 }
 

src/controls/sequence_node.cpp

@@ -27,14 +27,15 @@ SequenceNode::SequenceNode(const std::string& name, bool make_async)
 void SequenceNode::halt()
 {
   current_child_idx_ = 0;
+  skipped_count_ = 0;
   ControlNode::halt();
 }
 
 NodeStatus SequenceNode::tick()
 {
   const size_t children_count = children_nodes_.size();
 
-  if(status() == NodeStatus::IDLE)
+  if(!isStatusActive(status()))
   {
     skipped_count_ = 0;
   }
@@ -86,13 +87,15 @@ NodeStatus SequenceNode::tick()
   }    // end while loop
 
   // The entire while loop completed. This means that all the children returned SUCCESS.
+  const bool all_children_skipped = (skipped_count_ == children_count);
   if(current_child_idx_ == children_count)
   {
     resetChildren();
     current_child_idx_ = 0;
+    skipped_count_ = 0;
   }
   // Skip if ALL the nodes have been skipped
-  return (skipped_count_ == children_count) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
+  return (all_children_skipped) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
 }
 
 }  // namespace BT

src/controls/sequence_with_memory_node.cpp

@@ -25,7 +25,7 @@ NodeStatus SequenceWithMemory::tick()
 {
   const size_t children_count = children_nodes_.size();
 
-  if(status() == NodeStatus::IDLE)
+  if(!isStatusActive(status()))
   {
     skipped_count_ = 0;
   }
@@ -79,13 +79,15 @@ NodeStatus SequenceWithMemory::tick()
   }    // end while loop
 
   // The entire while loop completed. This means that all the children returned SUCCESS.
+  const bool all_children_skipped = (skipped_count_ == children_count);
   if(current_child_idx_ == children_count)
   {
     resetChildren();
     current_child_idx_ = 0;
+    skipped_count_ = 0;
   }
   // Skip if ALL the nodes have been skipped
-  return (skipped_count_ == children_count) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
+  return (all_children_skipped) ? NodeStatus::SKIPPED : NodeStatus::SUCCESS;
 }
 
 void SequenceWithMemory::halt()

tests/gtest_preconditions.cpp

@@ -474,3 +474,34 @@ TEST(Preconditions, WhileCallsOnHalt)
   ASSERT_EQ(status, BT::NodeStatus::SKIPPED);
   ASSERT_EQ(tree.rootBlackboard()->get<int>("B"), 69);
 }
+
+TEST(Preconditions, SkippedSequence)
+{
+  const std::string xml_text = R"(
+    <root BTCPP_format="4" >
+        <BehaviorTree ID="MainTree">
+            <Sequence>
+                <AlwaysSuccess _skipIf="skip"/>
+            </Sequence>
+        </BehaviorTree>
+    </root>)";
+
+  auto factory = BT::BehaviorTreeFactory();
+  auto tree = factory.createTreeFromText(xml_text);
+
+  tree.rootBlackboard()->set("skip", true);
+  auto status = tree.tickWhileRunning();
+  ASSERT_EQ(status, BT::NodeStatus::SKIPPED);
+
+  tree.rootBlackboard()->set("skip", false);
+  status = tree.tickWhileRunning();
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+
+  tree.rootBlackboard()->set("skip", true);
+  status = tree.tickWhileRunning();
+  ASSERT_EQ(status, BT::NodeStatus::SKIPPED);
+
+  tree.rootBlackboard()->set("skip", false);
+  status = tree.tickWhileRunning();
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+}