BehaviorTree.CPP/src/action_node.cpp at master · BehaviorTree/BehaviorTree.CPP · GitHub

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* 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.

#define MINICORO_IMPL

#include "behaviortree_cpp/action_node.h"

#include "minicoro.h"

#include <iostream>

using namespace BT;

ActionNodeBase::ActionNodeBase(const std::string& name, const NodeConfig& config)

: LeafNode::LeafNode(name, config)

{}

//-------------------------------------------------------

SimpleActionNode::SimpleActionNode(const std::string& name,

SimpleActionNode::TickFunctor tick_functor,

const NodeConfig& config)

: SyncActionNode(name, config), tick_functor_(std::move(tick_functor))

{}

NodeStatus SimpleActionNode::tick()

{

NodeStatus prev_status = status();

if(prev_status == NodeStatus::IDLE)

{

setStatus(NodeStatus::RUNNING);

prev_status = NodeStatus::RUNNING;

}

const NodeStatus status = tick_functor_(*this);

if(status != prev_status)

{

setStatus(status);

}

return status;

}

//-------------------------------------------------------

SyncActionNode::SyncActionNode(const std::string& name, const NodeConfig& config)

: ActionNodeBase(name, config)

{}

NodeStatus SyncActionNode::executeTick()

{

auto stat = ActionNodeBase::executeTick();

if(stat == NodeStatus::RUNNING)

{

throw LogicError("SyncActionNode MUST never return RUNNING");

}

return stat;

}

//-------------------------------------

struct CoroActionNode::Pimpl

{

mco_coro* coro = nullptr;

mco_desc desc = {};

};

namespace

{

void CoroEntry(mco_coro* co)

{

static_cast<CoroActionNode*>(co->user_data)->tickImpl();

}

} // namespace

CoroActionNode::CoroActionNode(const std::string& name, const NodeConfig& config)

: ActionNodeBase(name, config), _p(new Pimpl)

{}

CoroActionNode::~CoroActionNode()

{

try

{

destroyCoroutine();

}

catch(const std::exception& ex)

{

std::cerr << "Exception in ~CoroActionNode(): " << ex.what() << std::endl;

}

void CoroActionNode::setStatusRunningAndYield()

{

setStatus(NodeStatus::RUNNING);

mco_yield(_p->coro);

}

NodeStatus CoroActionNode::executeTick()

{

// create a new coroutine, if necessary

if(_p->coro == nullptr)

{

// First initialize a `desc` object through `mco_desc_init`.

_p->desc = mco_desc_init(CoroEntry, 0);

_p->desc.user_data = this;

const mco_result res = mco_create(&_p->coro, &_p->desc);

if(res != MCO_SUCCESS)

{

throw RuntimeError("Can't create coroutine");

}

//------------------------

// execute the coroutine

mco_resume(_p->coro);

//------------------------

// check if the coroutine finished. In this case, destroy it

if(mco_status(_p->coro) == MCO_DEAD)

{

destroyCoroutine();

}

return status();

}

void CoroActionNode::tickImpl()

{

setStatus(TreeNode::executeTick());

}

void CoroActionNode::halt()

{

destroyCoroutine();

resetStatus(); // might be redundant

}

void CoroActionNode::destroyCoroutine()

{

if(_p->coro != nullptr)

{

const mco_result res = mco_destroy(_p->coro);

if(res != MCO_SUCCESS)

{

throw RuntimeError("Can't destroy coroutine");

}

_p->coro = nullptr;

}

bool StatefulActionNode::isHaltRequested() const

{

return halt_requested_.load();

}

NodeStatus StatefulActionNode::tick()

{

const NodeStatus prev_status = status();

if(prev_status == NodeStatus::IDLE)

{

const NodeStatus new_status = onStart();

if(new_status == NodeStatus::IDLE)

{

throw LogicError("StatefulActionNode::onStart() must not return IDLE");

}

return new_status;

}

//------------------------------------------

if(prev_status == NodeStatus::RUNNING)

{

const NodeStatus new_status = onRunning();

if(new_status == NodeStatus::IDLE)

{

throw LogicError("StatefulActionNode::onRunning() must not return IDLE");

}

return new_status;

}

return prev_status;

}

void StatefulActionNode::halt()

{

halt_requested_.store(true);

if(status() == NodeStatus::RUNNING)

{

onHalted();

}

resetStatus(); // might be redundant

}

NodeStatus BT::ThreadedAction::executeTick()

{

using lock_type = std::unique_lock<std::mutex>;

//send signal to other thread.

// The other thread is in charge for changing the status

if(status() == NodeStatus::IDLE)

{

setStatus(NodeStatus::RUNNING);

halt_requested_ = false;

thread_handle_ = std::async(std::launch::async, [this]() {

try

{

auto status = tick();

if(!isHaltRequested())

{

setStatus(status);

}

catch(std::exception&)

{

std::cerr << "\nUncaught exception from tick(): [" << registrationName() << "/"

<< name() << "]\n"

<< std::endl;

// Set the exception pointer and the status atomically.

const lock_type l(mutex_);

exptr_ = std::current_exception();

setStatus(BT::NodeStatus::IDLE);

}

emitWakeUpSignal();

});

}

const lock_type l(mutex_);

if(exptr_)

{

// The official interface of std::exception_ptr does not define any move

// semantics. Thus, we copy and reset exptr_ manually.

const auto exptr_copy = exptr_;

exptr_ = nullptr;

std::rethrow_exception(exptr_copy);

}

return status();

}

void ThreadedAction::halt()

{

halt_requested_.store(true);

if(thread_handle_.valid())

{

thread_handle_.wait();

}

thread_handle_ = {};

resetStatus(); // might be redundant

}

BehaviorTree.CPP/src/action_node.cpp at master · BehaviorTree/BehaviorTree.CPP · GitHub

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