/src/behaviortreecpp/src/actions/updated_action.cpp
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1 | | /* Copyright (C) 2024-2025 Davide Faconti - All Rights Reserved |
2 | | * |
3 | | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), |
4 | | * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, |
5 | | * 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: |
6 | | * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. |
7 | | * |
8 | | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
9 | | * 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, |
10 | | * 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. |
11 | | */ |
12 | | |
13 | | #include "behaviortree_cpp/actions/updated_action.h" |
14 | | |
15 | | #include "behaviortree_cpp/bt_factory.h" |
16 | | |
17 | | namespace BT |
18 | | { |
19 | | |
20 | | EntryUpdatedAction::EntryUpdatedAction(const std::string& name, const NodeConfig& config) |
21 | 0 | : SyncActionNode(name, config) |
22 | 0 | { |
23 | 0 | auto it = config.input_ports.find("entry"); |
24 | 0 | if(it == config.input_ports.end() || it->second.empty()) |
25 | 0 | { |
26 | 0 | throw LogicError("Missing port 'entry' in ", name); |
27 | 0 | } |
28 | 0 | const auto entry_str = it->second; |
29 | 0 | StringView stripped_key; |
30 | 0 | if(isBlackboardPointer(entry_str, &stripped_key)) |
31 | 0 | { |
32 | 0 | entry_key_ = stripped_key; |
33 | 0 | } |
34 | 0 | else |
35 | 0 | { |
36 | 0 | entry_key_ = entry_str; |
37 | 0 | } |
38 | 0 | } |
39 | | |
40 | | NodeStatus EntryUpdatedAction::tick() |
41 | 0 | { |
42 | 0 | if(auto entry = config().blackboard->getEntry(entry_key_)) |
43 | 0 | { |
44 | 0 | const std::unique_lock lk(entry->entry_mutex); |
45 | 0 | const uint64_t current_id = entry->sequence_id; |
46 | 0 | const uint64_t previous_id = sequence_id_; |
47 | 0 | sequence_id_ = current_id; |
48 | | /* |
49 | | uint64_t previous_id = 0; |
50 | | auto& previous_id_registry = details::GlobalSequenceRegistry(); |
51 | | |
52 | | // find the previous id in the registry. |
53 | | auto it = previous_id_registry.find(entry.get()); |
54 | | if(it != previous_id_registry.end()) |
55 | | { |
56 | | previous_id = it->second; |
57 | | } |
58 | | if(previous_id != current_id) |
59 | | { |
60 | | previous_id_registry[entry.get()] = current_id; |
61 | | }*/ |
62 | 0 | return (previous_id != current_id) ? NodeStatus::SUCCESS : NodeStatus::FAILURE; |
63 | 0 | } |
64 | 0 | else |
65 | 0 | { |
66 | 0 | return NodeStatus::FAILURE; |
67 | 0 | } |
68 | 0 | } |
69 | | |
70 | | } // namespace BT |