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Propagate skipped conditions in IfThenElse and WhileDoElse #1276

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Propagate skipped conditions in IfThenElse and WhileDoElse #1276

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5 changes: 5 additions & 0 deletions src/controls/if_then_else_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,11 @@ NodeStatus IfThenElseNode::tick()
{
return condition_status;
}
if(condition_status == NodeStatus::SKIPPED)
{
resetChildren();
return condition_status;
}
if(condition_status == NodeStatus::SUCCESS)
{
child_idx_ = 1;
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5 changes: 5 additions & 0 deletions src/controls/while_do_else_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,11 @@ NodeStatus WhileDoElseNode::tick()
{
return condition_status;
}
if(condition_status == NodeStatus::SKIPPED)
{
resetChildren();
return condition_status;
}

NodeStatus status = NodeStatus::IDLE;

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21 changes: 21 additions & 0 deletions tests/gtest_if_then_else.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,27 @@ TEST_F(IfThenElseTest, ConditionRunning)
ASSERT_EQ(counters[0], 1); // TestA executed
}

TEST_F(IfThenElseTest, ConditionSkipped)
{
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<IfThenElse>
<AlwaysSuccess _skipIf="true"/>
<TestA/>
<TestB/>
</IfThenElse>
</BehaviorTree>
</root>)";

auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickOnce();

ASSERT_EQ(status, NodeStatus::SKIPPED);
ASSERT_EQ(counters[0], 0);
ASSERT_EQ(counters[1], 0);
}

TEST_F(IfThenElseTest, HaltBehavior)
{
// Test that halt resets the node properly
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21 changes: 21 additions & 0 deletions tests/gtest_while_do_else.cpp
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Expand Up @@ -94,6 +94,27 @@ TEST_F(WhileDoElseTest, ConditionFalse_TwoChildren_ReturnsFailure)
ASSERT_EQ(counters[0], 0); // TestA not executed
}

TEST_F(WhileDoElseTest, ConditionSkipped)
{
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess _skipIf="true"/>
<TestA/>
<TestB/>
</WhileDoElse>
</BehaviorTree>
</root>)";

auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickOnce();

ASSERT_EQ(status, NodeStatus::SKIPPED);
ASSERT_EQ(counters[0], 0);
ASSERT_EQ(counters[1], 0);
}

TEST_F(WhileDoElseTest, DoBranchFails)
{
// When do-branch fails, WhileDoElse returns FAILURE
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