keep_running_until_failure_node.h

/*  Copyright (C) 2018-2025 Davide Faconti, Eurecat -  All Rights Reserved
*   Copyright (C) 2020 Francisco Martin, Intelligent Robotics Lab (URJC) <fmrico@gmail.com>
*
*   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 "behaviortree_cpp/decorator_node.h"
 
namespace BT
{
/**
 * @brief The KeepRunningUntilFailureNode keeps ticking the child as long
 * as it returns SUCCESS, and returns RUNNING.
 *
 * - If the child returns SUCCESS, reset the child and return RUNNING.
 * - If the child returns RUNNING, return RUNNING.
 * - If the child returns FAILURE, return FAILURE.
 *
 * This creates an infinite loop that stops only when the child fails.
 */
class KeepRunningUntilFailureNode : public DecoratorNode
{
public:
  KeepRunningUntilFailureNode(const std::string& name) : DecoratorNode(name, {})
  {
    setRegistrationID("KeepRunningUntilFailure");
  }
 
private:
  virtual BT::NodeStatus tick() override;
};
 
//------------ implementation ----------------------------
 
inline NodeStatus KeepRunningUntilFailureNode::tick()
{
  setStatus(NodeStatus::RUNNING);
 
  const NodeStatus child_state = child_node_->executeTick();
 
  switch(child_state)
  {
    case NodeStatus::FAILURE: {
      resetChild();
      return NodeStatus::FAILURE;
    }
    case NodeStatus::SUCCESS: {
      resetChild();
      return NodeStatus::RUNNING;
    }
    case NodeStatus::RUNNING: {
      return NodeStatus::RUNNING;
    }
 
    default: {
      // TODO throw?
    }
  }
  return status();
}
}  // namespace BT