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Fix bt::conditional node: proper assert handling & child nodes starting

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This commit is contained in:
Nikita Lisitsa 2024-12-07 20:05:16 +03:00
parent 6d4abb7c03
commit 89cbbaeeef
1 changed files with 25 additions and 14 deletions
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11
libs/bt/include/psemek/bt/conditional.hpp
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@ -34,6 +34,8 @@ namespace psemek::bt
} }
status update(Time dt, Args ... args) override status update(Time dt, Args ... args) override
{
try
{ {
if (condition_result_) if (condition_result_)
{ {
@ -49,12 +51,21 @@ namespace psemek::bt
if (auto finished = std::get_if<typename node_type::finished>(&result)) if (auto finished = std::get_if<typename node_type::finished>(&result))
{ {
condition_result_ = finished->result; condition_result_ = finished->result;
if (*condition_result_)
true_branch_->start(args...);
else
false_branch_->start(args...);
return running{}; return running{};
} }
return result; return result;
} }
} }
catch (assertion_failed_exception const &)
{
return finished{false};
}
}
bool event(Event const & event, Args ... args) override bool event(Event const & event, Args ... args) override
{ {