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Description
haltTree resets the tree status to IDLE which then in the tickRoot only breaks out of the inner loop, which is then restarted by the outer loop
NodeStatus Tree::tickRoot(TickOption opt, std::chrono::milliseconds sleep_time)
{
...
// Always run if IDLE
while (status == NodeStatus::IDLE ||
(opt == TickOption::WHILE_RUNNING && status == NodeStatus::RUNNING))
{
...
// Inner loop. The previous tick might have triggered the wake-up
// in this case, unless TickOption::EXACTLY_ONCE, we tick again
while( opt != TickOption::EXACTLY_ONCE &&
status == NodeStatus::RUNNING &&
wake_up_->waitFor(std::chrono::milliseconds(0)) )
{
status = rootNode()->executeTick();
// Due to halt tree status is now IDLE, normal exiting operation would be SUCCESS or FAIL
}
...
}
return status;
}