revert #329

Author: facontidavide

src/controls/sequence_star_node.cpp

@@ -89,7 +89,7 @@ NodeStatus SequenceWithMemory::tick()
 
 void SequenceWithMemory::halt()
 {
-  // DO NOT reset current_child_idx_ on halt
+  current_child_idx_ = 0;
   ControlNode::halt();
 }
 

tests/gtest_sequence.cpp

@@ -387,143 +387,3 @@ TEST_F(ComplexSequenceWithMemoryTest, Conditions1ToFalse)
   ASSERT_EQ(NodeStatus::IDLE, action_2.status());
 }
 
-TEST_F(ComplexSequenceWithMemoryTest, Conditions2ToFalse)
-{
-  BT::NodeStatus state = root.executeTick();
-
-  condition_2.setExpectedResult(NodeStatus::FAILURE);
-  state = root.executeTick();
-  // change in condition_2 does not affect the state of the tree,
-  // since the seq_conditions was executed already
-  ASSERT_EQ(NodeStatus::RUNNING, state);
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action1DoneSeq)
-{
-  root.executeTick();
-
-  condition_2.setExpectedResult(NodeStatus::FAILURE);
-  root.executeTick();
-
-  // change in condition_2 does not affect the state of the tree,
-  // since the seq_conditions was executed already
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action2FailureSeq)
-{
-  root.executeTick();
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  action_2.setExpectedResult(NodeStatus::FAILURE);
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  // failure in action_2 does not affect the state of already
-  // executed nodes (seq_conditions and action_1)
-  ASSERT_EQ(NodeStatus::FAILURE, root.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  action_2.setExpectedResult(NodeStatus::SUCCESS);
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action2HaltSeq)
-{
-  root.executeTick();
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  root.halt();
-
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  root.executeTick();
-
-  // tree retakes execution from action_2
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}