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1 parent 6117937 commit 4fec989Copy full SHA for 4fec989
src/controls/reactive_fallback.cpp
@@ -32,7 +32,9 @@ NodeStatus ReactiveFallback::tick()
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switch (child_status)
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{
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case NodeStatus::RUNNING: {
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- for (size_t i = index + 1; i < childrenCount(); i++)
+ // reset the previous children, to make sure that they are in IDLE state
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+ // the next time we tick them
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+ for (size_t i = 0; i < index; i++)
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haltChild(i);
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}
@@ -61,11 +63,7 @@ NodeStatus ReactiveFallback::tick()
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} // end switch
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} //end for
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- if (failure_count == childrenCount())
- {
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- resetChildren();
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- return NodeStatus::FAILURE;
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- }
+ resetChildren();
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// Skip if ALL the nodes have been skipped
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return all_skipped ? NodeStatus::SKIPPED : NodeStatus::FAILURE;
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