@Override
public BehaviorStatus run() {
tickParallel();
BehaviorStatus status = null;
if (executing == null) {
if ((executing = getNextBehavior()) == null) {
return BehaviorStatus.FAILURE;
}
if (executing.shouldExecute()) {
prepareForExecution(executing);
} else {
status = BehaviorStatus.FAILURE;
}
}
if (status == null) {
status = executing.run();
}
if (status == BehaviorStatus.FAILURE) {
if (retryChildren) {
stopExecution(executing);
executing = null;
return BehaviorStatus.RUNNING;
}
} else if (status == BehaviorStatus.RESET_AND_REMOVE) {
getBehaviors().remove(executing);
stopExecution(executing);
executing = null;
return BehaviorStatus.SUCCESS;
}
return status;
}
