62 lines
1.2 KiB
C++
62 lines
1.2 KiB
C++
#include "TaskGroupSelector.h"
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TaskGroupSelector::TaskGroupSelector(): m_taskIndex(0) {}
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void TaskGroupSelector::addTask(std::shared_ptr<Task> task)
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{
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m_taskRunners.push_back(std::make_shared<TaskRunner>(task));
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}
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void TaskGroupSelector::doEnter(std::shared_ptr<Blackboard> blackboard)
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{
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m_taskIndex = 0;
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}
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Task::TaskState TaskGroupSelector::doUpdate(std::shared_ptr<Blackboard> blackboard)
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{
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if (m_taskIndex >= int(m_taskRunners.size()))
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{
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return STATE_FAILURE;
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}
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TaskState state = m_taskRunners[m_taskIndex]->update(blackboard);
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if (state == STATE_FAILURE)
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{
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m_taskIndex++;
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if (m_taskIndex >= int(m_taskRunners.size()))
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{
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return STATE_FAILURE;
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}
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}
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else if (state == STATE_SUCCESS)
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{
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return STATE_SUCCESS;
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}
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else if (state == STATE_HOLD)
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{
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return STATE_HOLD;
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}
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return STATE_RUNNING;
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}
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void TaskGroupSelector::doExit(std::shared_ptr<Blackboard> blackboard) {}
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void TaskGroupSelector::doReset(std::shared_ptr<Blackboard> blackboard)
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{
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for (size_t i = 0; i < m_taskRunners.size(); i++)
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{
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m_taskRunners[i]->reset();
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}
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}
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void TaskGroupSelector::doTerminate()
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{
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for (size_t i = 0; i < m_taskRunners.size(); i++)
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{
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m_taskRunners[i]->terminate();
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}
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}
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