add infinite loop to Repeat and Retry (issue #80)

Author: Davide Faconti

include/behaviortree_cpp/decorators/repeat_node.h

@@ -37,20 +37,22 @@ class RepeatNode : public DecoratorNode
 {
   public:
 
-    RepeatNode(const std::string& name, unsigned int NTries);
+    RepeatNode(const std::string& name, int NTries);
 
     RepeatNode(const std::string& name, const NodeConfiguration& config);
 
     virtual ~RepeatNode() override = default;
 
     static PortsList providedPorts()
     {
-        return { InputPort<unsigned>(NUM_CYCLES, "Repeat a succesful child up to N times") };
+        return { InputPort<int>(NUM_CYCLES,
+                                "Repeat a succesful child up to N times. "
+                               "Use -1 to create an infinite loop.") };
     }
 
   private:
-    unsigned num_cycles_;
-    unsigned try_index_;
+    int num_cycles_;
+    int try_index_;
 
     bool read_parameter_from_ports_;
     static constexpr const char* NUM_CYCLES = "num_cycles";

include/behaviortree_cpp/decorators/retry_node.h

@@ -37,22 +37,24 @@ class RetryNode : public DecoratorNode
 {
   public:
 
-    RetryNode(const std::string& name, unsigned int NTries);
+    RetryNode(const std::string& name, int NTries);
 
     RetryNode(const std::string& name, const NodeConfiguration& config);
 
     virtual ~RetryNode() override = default;
 
     static PortsList providedPorts()
     {
-        return { InputPort<unsigned>(NUM_ATTEMPTS, "Execute again a failing child up to N times") };
+        return { InputPort<int>(NUM_ATTEMPTS,
+                               "Execute again a failing child up to N times. "
+                               "Use -1 to create an infinite loop.") };
     }
 
     virtual void halt() override;
 
   private:
-    unsigned int max_attempts_;
-    unsigned int try_index_;
+    int max_attempts_;
+    int try_index_;
 
     bool read_parameter_from_ports_;
     static constexpr const char* NUM_ATTEMPTS = "num_attempts";

src/decorators/repeat_node.cpp

@@ -17,7 +17,7 @@ namespace BT
 {
 constexpr const char* RepeatNode::NUM_CYCLES;
 
-RepeatNode::RepeatNode(const std::string& name, unsigned int NTries)
+RepeatNode::RepeatNode(const std::string& name, int NTries)
     : DecoratorNode(name, {} ),
     num_cycles_(NTries),
     try_index_(0),
@@ -47,7 +47,7 @@ NodeStatus RepeatNode::tick()
 
     setStatus(NodeStatus::RUNNING);
 
-    while (try_index_ < num_cycles_)
+    while (try_index_ < num_cycles_ || num_cycles_== -1 )
     {
         NodeStatus child_state = child_node_->executeTick();
 

src/decorators/retry_node.cpp

@@ -17,7 +17,7 @@ namespace BT
 {
 constexpr const char* RetryNode::NUM_ATTEMPTS;
 
-RetryNode::RetryNode(const std::string& name, unsigned int NTries)
+RetryNode::RetryNode(const std::string& name, int NTries)
     : DecoratorNode(name, {} ),
     max_attempts_(NTries),
     try_index_(0),