fix priority set

Author: shb3014

include/behaviortree_cpp_v3/decorators/DecoratorEvent.h

@@ -15,7 +15,9 @@ namespace BT {
     class DecoratorEvent : public DecoratorNode {
     public:
         DecoratorEvent(const std::string &name, const NodeConfiguration &config)
-                : DecoratorNode(name, config) {}
+                : DecoratorNode(name, config) {
+                reset_priority();
+        }
 
         static PortsList providedPorts() {
             return {InputPort<int>(DECORATOR_PRIORITY_NAME), InputPort<int>(DECORATOR_INDEX_NAME)};
@@ -38,6 +40,8 @@ namespace BT {
         void halt() override;
 
     private:
+        void reset_priority();
+
         bool m_reenter = false;
         bool m_initialized = false;
         int m_priority = 0;

src/decorators/DecoratorEvent.cpp

@@ -32,20 +32,24 @@ namespace BT {
         if (auto prop = dynamic_cast<PropReenter *>(child())) {
             m_reenter = true;
         }
-        Optional<int> ret = getInput<int>(DECORATOR_PRIORITY_NAME);
-        if (ret) {
-            m_priority = ret.value();
-        } else {
-            m_priority = 0;
-        }
         return NodeStatus::SUCCESS;
     }
 
     void DecoratorEvent::halt() {
+        reset_priority();
         DecoratorNode::halt();
     }
 
     void DecoratorEvent::set_priority(int prio) {
         m_priority = prio;
     }
+
+    void DecoratorEvent::reset_priority() {
+        Optional<int> ret = getInput<int>(DECORATOR_PRIORITY_NAME);
+        if (ret) {
+            m_priority = ret.value();
+        } else {
+            m_priority = 0;
+        }
+    }
 }