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Behavior tree retry node: support retrying a fixed number of times

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This commit is contained in:
Nikita Lisitsa 2021-10-30 13:14:02 +03:00
parent 25c93a7699
commit 8571bc9c6d
1 changed files with 9 additions and 2 deletions
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11
libs/util/include/psemek/util/behavior_tree.hpp
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@ -565,13 +565,17 @@ namespace psemek::util
struct retry struct retry
{ {
Child child; Child child;
std::optional<int> max_count;
int count;
retry(Child child) retry(Child child, std::optional<int> max_count = std::nullopt)
: child(std::move(child)) : child(std::move(child))
, max_count(max_count)
{} {}
void start(Args ... args) void start(Args ... args)
{ {
count = 0;
child.start(args...); child.start(args...);
} }
@ -584,7 +588,10 @@ namespace psemek::util
return finished{true}; return finished{true};
else else
{ {
start(args...); ++count;
if (max_count && count == *max_count)
return finished{false};
child.start(args...);
return running{}; return running{};
} }
} }