tick API changed

Author: facontidavide

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;