tick API changed

examples/ex01_wrap_legacy.cpp

@@ -86,7 +86,7 @@ int main()
 
   auto tree = factory.createTreeFromText(xml_text);
 
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   return 0;
 }

examples/ex02_runtime_ports.cpp

@@ -63,6 +63,7 @@ int main()
   factory.registerNodeType<SayRuntimePort>("SayRuntimePort", say_ports);
 
   auto tree = factory.createTreeFromText(xml_text);
-  tree.tickRoot();
+  tree.tickWhileRunning();
+
   return 0;
 }

examples/ex03_ncurses_manual_selector.cpp

@@ -32,7 +32,7 @@ int main()
   factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
 
   auto tree = factory.createTreeFromText(xml_text);
-  auto ret = tree.tickRoot();
+  auto ret = tree.tickWhileRunning();
 
   std::cout << "Result: " << ret << std::endl;
 

examples/ex04_waypoints.cpp

@@ -186,10 +186,7 @@ int main()
   for (const auto& xml_text : {xml_implicit, xml_A, xml_B})
   {
     auto tree = factory.createTreeFromText(xml_text);
-    while (tree.tickRoot() == NodeStatus::RUNNING)
-    {
-      tree.sleep(std::chrono::milliseconds(10));
-    }
+    tree.tickWhileRunning();
     std::cout << "--------------" << std::endl;
   }
 

examples/t01_build_your_first_tree.cpp

@@ -83,7 +83,7 @@ int main()
   // The tick is propagated to the children based on the logic of the tree.
   // In this case, the entire sequence is executed, because all the children
   // of the Sequence return SUCCESS.
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   return 0;
 }

examples/t02_basic_ports.cpp

@@ -96,7 +96,7 @@ int main()
 
   auto tree = factory.createTreeFromText(xml_text);
 
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   /*  Expected output:
      *

examples/t03_generic_ports.cpp

@@ -126,7 +126,7 @@ int main()
   factory.registerNodeType<PrintTarget>("PrintTarget");
 
   auto tree = factory.createTreeFromText(xml_text);
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   /* Expected output:
  *

examples/t04_reactive_sequence.cpp

@@ -77,15 +77,15 @@ int main()
     // Tick the root until we receive either SUCCESS or RUNNING
     // same as: tree.tickRoot(Tree::WHILE_RUNNING)
     std::cout << "--- ticking\n";
-    status = tree.tickRoot();
+    status = tree.tickWhileRunning();
     std::cout << "--- status: " << toStr(status) << "\n\n";
 #else
     // If we need to run code between one tick() and the next,
     // we can implement our own while loop
     while (status != NodeStatus::SUCCESS)
     {
       std::cout << "--- ticking\n";
-      status = tree.tickRoot(Tree::ONCE);
+      status = tree.tickOnce();
       std::cout << "--- status: " << toStr(status) << "\n\n";
 
       // if still running, add some wait time

examples/t05_crossdoor.cpp

@@ -53,7 +53,7 @@ int main()
   BT::printTreeRecursively(tree.rootNode());
 
   // Tick multiple times, until either FAILURE of SUCCESS is returned
-  tree.tickRoot(BT::Tree::WHILE_RUNNING);
+  tree.tickWhileRunning();
 
   return 0;
 }

examples/t06_subtree_port_remapping.cpp

@@ -60,7 +60,7 @@ int main()
 
   auto tree = factory.createTreeFromText(xml_text);
 
-  tree.tickRoot(Tree::WHILE_RUNNING);
+  tree.tickWhileRunning();
 
   // let's visualize some information about the current state of the blackboards.
   std::cout << "\n------ First BB ------" << std::endl;

examples/t07_load_multiple_xml.cpp

@@ -58,12 +58,12 @@ int main()
   // You can create the MainTree and the subtrees will be added automatically.
   std::cout << "----- MainTree tick ----" << std::endl;
   auto main_tree = factory.createTree("MainTree");
-  main_tree.tickRoot();
+  main_tree.tickWhileRunning();
 
   // ... or you can create only one of the subtree
   std::cout << "----- SubA tick ----" << std::endl;
   auto subA_tree = factory.createTree("SubA");
-  subA_tree.tickRoot();
+  subA_tree.tickWhileRunning();
 
   return 0;
 }

examples/t08_additional_node_args.cpp

@@ -100,7 +100,7 @@ int main()
   // apply the visitor to all the nodes of the tree
   tree.applyVisitor(visitor);
 
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   /* Expected output:
         Action_A: 42 / hello world

examples/t09_scripting.cpp

@@ -46,7 +46,7 @@ int main()
   factory.registerScriptingEnum("THE_ANSWER", 42);
 
   auto tree = factory.createTreeFromText(xml_text);
-  tree.tickRoot();
+  tree.tickWhileRunning();
 
   return 0;
 }

include/behaviortree_cpp/action_node.h

@@ -185,7 +185,6 @@ class StatefulActionNode : public ActionNodeBase
   std::atomic_bool halt_requested_;
 };
 
-
 #ifndef BT_NO_COROUTINES
 
 /**

include/behaviortree_cpp/bt_factory.h

@@ -84,10 +84,6 @@ See examples for more information about configuring CMake correctly
 /**
  * @brief Struct used to store a tree.
  * If this object goes out of scope, the tree is destroyed.
- *
- * To tick the tree, simply call:
- *
- *    NodeStatus status = my_tree.tickRoot();
  */
 class Tree
 {
@@ -154,49 +150,22 @@ class Tree
 
   TreeNode* rootNode() const;
 
-  enum TickOption
-  {
-    ONCE,
-    WHILE_RUNNING
-  };
-
-  NodeStatus tickRoot(TickOption opt = TickOption::WHILE_RUNNING)
-  {
-    NodeStatus status = NodeStatus::IDLE;
-
-    while (status == NodeStatus::IDLE ||
-           (opt == TickOption::WHILE_RUNNING && status == NodeStatus::RUNNING))
-    {
-      if (!wake_up_)
-      {
-        initialize();
-      }
-
-      if (!rootNode())
-      {
-        throw RuntimeError("Empty Tree");
-      }
-      status = rootNode()->executeTick();
-      if (status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE)
-      {
-        rootNode()->resetStatus();
-      }
-      if (status == NodeStatus::RUNNING)
-      {
-        sleep(std::chrono::milliseconds(1));
-      }
-    }
-
-    return status;
-  }
-
   /// Sleep for a certain amount of time.
   /// This sleep could be interrupted by the method
   /// TreeNode::emitWakeUpSignal()
   void sleep(std::chrono::system_clock::duration timeout);
 
   ~Tree();
 
+  /// Tick the root of the tree once.
+  NodeStatus tickOnce();
+
+  /// Call tickOnce until the status is different from RUNNING.
+  /// Note that between one tick and the following one,
+  /// a Tree::sleep() is used
+  NodeStatus
+  tickWhileRunning(std::chrono::milliseconds sleep_time = std::chrono::milliseconds(10));
+
   Blackboard::Ptr rootBlackboard();
 
   //Call the visitor for each node of the tree.
@@ -207,6 +176,14 @@ class Tree
 
 private:
   std::shared_ptr<WakeUpSignal> wake_up_;
+
+  enum TickOption
+  {
+    ONCE,
+    WHILE_RUNNING
+  };
+
+  NodeStatus tickRoot(TickOption opt, std::chrono::milliseconds sleep_time);
 };
 
 class Parser;
@@ -394,10 +371,14 @@ class BehaviorTreeFactory
         std::is_constructible<T, const std::string&, const NodeConfig&>::value;
     constexpr bool has_static_ports_list = has_static_method_providedPorts<T>::value;
 
-    static_assert(default_constructable || param_constructable,
-                  "[registerNode]: the registered class must have at "
-                  "least one of these two constructors: (const std::string&, const "
-                  "NodeConfig&) or (const std::string&).");
+    static_assert(default_constructable || param_constructable, "[registerNode]: the "
+                                                                "registered class must "
+                                                                "have at "
+                                                                "least one of these two "
+                                                                "constructors: (const "
+                                                                "std::string&, const "
+                                                                "NodeConfig&) or (const "
+                                                                "std::string&).");
 
     static_assert(!has_static_ports_list, "[registerNode]: ports are passed to this node "
                                           "explicitly. The static method"