Add runid #5553
Draft
Add runid #5553
+216
−4
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
|
@adivardi could you give this a review? I just wondered if I comprehend the idea correctly. |
adivardi
reviewed
Sep 26, 2025
| } | ||
| } catch (const std::exception & e) { | ||
| // run_id not found on blackboard, use old behavior | ||
| if (!BT::isStatusActive(status())) { |
There was a problem hiding this comment.
I am not sure about this, that would be a weird surprise. Maybe just let it crash? It would be the same as if server_timeout is missing.
|
|
||
| // Subsequent ticks with same RunID should continue without re-initialization | ||
| result = tree_->tickOnce(); | ||
| EXPECT_EQ(result, BT::NodeStatus::RUNNING); |
There was a problem hiding this comment.
how come all tests have the same EXPECT_EQ(result, BT::NodeStatus::RUNNING); ?
|
Thank you. |
SteveMacenski
requested changes
Sep 29, 2025
| return; | ||
| } | ||
|
|
||
| run_id_++; |
There was a problem hiding this comment.
I think we should use a UUID unique hash instead
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
Description of contribution in a few bullet points
I tried to implement the idea at #5036
I added run_id to the blackboard and it's symetrycal to action node template. So that everytime blackboard ticks nodes one can keep track of nodes init time. This is an insurance for synchronization in the background. Made this activated with a parameter so that it won't interfere with current implementations and break them too.
Description of documentation updates required from your changes
Action nodes now have the parameter
is_globalfor this feature.Description of how this change was tested
I have tested this locally with debug lines it was showing so integration tested too. Besides I wrote backward compatibility tests too.
Future work that may be required in bullet points
In future adding current behavior trees
is_global = truefor every nodeAs the final making this a default.
For Maintainers:
backport-*.