Propagate skipped conditions in IfThenElse and WhileDoElse

Author: mmporong

src/controls/if_then_else_node.cpp

@@ -45,6 +45,11 @@ NodeStatus IfThenElseNode::tick()
     {
       return condition_status;
     }
+    if(condition_status == NodeStatus::SKIPPED)
+    {
+      resetChildren();
+      return condition_status;
+    }
     if(condition_status == NodeStatus::SUCCESS)
     {
       child_idx_ = 1;

src/controls/while_do_else_node.cpp

@@ -42,6 +42,11 @@ NodeStatus WhileDoElseNode::tick()
   {
     return condition_status;
   }
+  if(condition_status == NodeStatus::SKIPPED)
+  {
+    resetChildren();
+    return condition_status;
+  }
 
   NodeStatus status = NodeStatus::IDLE;
 

tests/gtest_if_then_else.cpp

@@ -174,6 +174,27 @@ TEST_F(IfThenElseTest, ConditionRunning)
   ASSERT_EQ(counters[0], 1);  // TestA executed
 }
 
+TEST_F(IfThenElseTest, ConditionSkipped)
+{
+  const std::string xml_text = R"(
+    <root BTCPP_format="4">
+       <BehaviorTree>
+          <IfThenElse>
+            <AlwaysSuccess _skipIf="true"/>
+            <TestA/>
+            <TestB/>
+          </IfThenElse>
+       </BehaviorTree>
+    </root>)";
+
+  auto tree = factory.createTreeFromText(xml_text);
+  auto status = tree.tickOnce();
+
+  ASSERT_EQ(status, NodeStatus::SKIPPED);
+  ASSERT_EQ(counters[0], 0);
+  ASSERT_EQ(counters[1], 0);
+}
+
 TEST_F(IfThenElseTest, HaltBehavior)
 {
   // Test that halt resets the node properly

tests/gtest_while_do_else.cpp

@@ -94,6 +94,27 @@ TEST_F(WhileDoElseTest, ConditionFalse_TwoChildren_ReturnsFailure)
   ASSERT_EQ(counters[0], 0);  // TestA not executed
 }
 
+TEST_F(WhileDoElseTest, ConditionSkipped)
+{
+  const std::string xml_text = R"(
+    <root BTCPP_format="4">
+       <BehaviorTree>
+          <WhileDoElse>
+            <AlwaysSuccess _skipIf="true"/>
+            <TestA/>
+            <TestB/>
+          </WhileDoElse>
+       </BehaviorTree>
+    </root>)";
+
+  auto tree = factory.createTreeFromText(xml_text);
+  auto status = tree.tickOnce();
+
+  ASSERT_EQ(status, NodeStatus::SKIPPED);
+  ASSERT_EQ(counters[0], 0);
+  ASSERT_EQ(counters[1], 0);
+}
+
 TEST_F(WhileDoElseTest, DoBranchFails)
 {
   // When do-branch fails, WhileDoElse returns FAILURE