fix ParallelAll

Author: facontidavide

src/bt_factory.cpp

@@ -633,7 +633,7 @@ NodeStatus Tree::tickRoot(TickOption opt, std::chrono::milliseconds sleep_time)
       status = rootNode()->executeTick();
     }
 
-    if (status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE)
+    if (isStatusCompleted(status))
     {
       rootNode()->resetStatus();
     }

src/controls/parallel_all_node.cpp

@@ -93,9 +93,10 @@ NodeStatus ParallelAllNode::tick()
     // DONE
     haltChildren();
     completed_list_.clear();
+    auto const status = (failure_count_ >= failure_threshold_) ?
+                            NodeStatus::FAILURE : NodeStatus::SUCCESS;
     failure_count_ = 0;
-    return (failure_count_ >= failure_threshold_) ? NodeStatus::FAILURE :
-                                                    NodeStatus::SUCCESS;
+    return status;
   }
 
   // Some children haven't finished, yet.

tests/gtest_parallel.cpp

@@ -395,15 +395,15 @@ TEST_F(ComplexParallelTest, ConditionRightFalseAction1Done)
   ASSERT_EQ(NodeStatus::SUCCESS, state);
 }
 
-TEST(FailingParallel, FailingParallel)
+TEST(Parallel, FailingParallel)
 {
   static const char* xml_text = R"(
 <root BTCPP_format="4">
   <BehaviorTree ID="MainTree">
     <Parallel name="parallel" success_count="1" failure_count="3">
       <GoodTest name="first"/>
       <BadTest name="second"/>
-      <GoodTest name="third"/>
+      <SlowTest name="third"/>
     </Parallel>
   </BehaviorTree>
 </root>  )";
@@ -412,7 +412,7 @@ TEST(FailingParallel, FailingParallel)
   BehaviorTreeFactory factory;
 
   BT::TestNodeConfig good_config;
-  good_config.async_delay = std::chrono::milliseconds(300);
+  good_config.async_delay = std::chrono::milliseconds(200);
   good_config.return_status = NodeStatus::SUCCESS;
   factory.registerNodeType<BT::TestNode>("GoodTest", good_config);
 
@@ -421,11 +421,77 @@ TEST(FailingParallel, FailingParallel)
   bad_config.return_status = NodeStatus::FAILURE;
   factory.registerNodeType<BT::TestNode>("BadTest", bad_config);
 
+  BT::TestNodeConfig slow_config;
+  slow_config.async_delay = std::chrono::milliseconds(300);
+  slow_config.return_status = NodeStatus::SUCCESS;
+  factory.registerNodeType<BT::TestNode>("SlowTest", slow_config);
+
   auto tree = factory.createTreeFromText(xml_text);
   BT::TreeObserver observer(tree);
 
   auto state = tree.tickWhileRunning();
   // since at least one succeeded.
   ASSERT_EQ(NodeStatus::SUCCESS, state);
+  ASSERT_EQ( 1, observer.getStatistics("first").success_count);
   ASSERT_EQ( 1, observer.getStatistics("second").failure_count);
+  ASSERT_EQ( 0, observer.getStatistics("third").failure_count);
+}
+
+TEST(Parallel, ParallelAll)
+{
+  using namespace BT;
+
+  BehaviorTreeFactory factory;
+
+  BT::TestNodeConfig good_config;
+  good_config.async_delay = std::chrono::milliseconds(300);
+  good_config.return_status = NodeStatus::SUCCESS;
+  factory.registerNodeType<BT::TestNode>("GoodTest", good_config);
+
+  BT::TestNodeConfig bad_config;
+  bad_config.async_delay = std::chrono::milliseconds(100);
+  bad_config.return_status = NodeStatus::FAILURE;
+  factory.registerNodeType<BT::TestNode>("BadTest", bad_config);
+
+  {
+    const char* xml_text = R"(
+<root BTCPP_format="4">
+  <BehaviorTree ID="MainTree">
+    <ParallelAll max_failures="1">
+      <BadTest name="first"/>
+      <GoodTest name="second"/>
+      <GoodTest name="third"/>
+    </ParallelAll>
+  </BehaviorTree>
+</root>  )";
+    auto tree = factory.createTreeFromText(xml_text);
+    BT::TreeObserver observer(tree);
+
+    auto state = tree.tickWhileRunning();
+    ASSERT_EQ(NodeStatus::FAILURE, state);
+    ASSERT_EQ( 1, observer.getStatistics("first").failure_count);
+    ASSERT_EQ( 1, observer.getStatistics("second").success_count);
+    ASSERT_EQ( 1, observer.getStatistics("third").success_count);
+  }
+
+  {
+    const char* xml_text = R"(
+<root BTCPP_format="4">
+  <BehaviorTree ID="MainTree">
+    <ParallelAll max_failures="2">
+      <BadTest name="first"/>
+      <GoodTest name="second"/>
+      <GoodTest name="third"/>
+    </ParallelAll>
+  </BehaviorTree>
+</root>  )";
+    auto tree = factory.createTreeFromText(xml_text);
+    BT::TreeObserver observer(tree);
+
+    auto state = tree.tickWhileRunning();
+    ASSERT_EQ(NodeStatus::SUCCESS, state);
+    ASSERT_EQ( 1, observer.getStatistics("first").failure_count);
+    ASSERT_EQ( 1, observer.getStatistics("second").success_count);
+    ASSERT_EQ( 1, observer.getStatistics("third").success_count);
+  }
 }