/**
* Executes this <code>CompositeBehaviour</code>. This method executes children according to the
* scheduling policy defined by concrete subclasses that implements the <code>scheduleFirst()
* </code> and <code>scheduleNext()</code> methods.
*/
public final void run() {
if (starting) {
scheduleFirst();
starting = false;
} else {
if (currentExecuted) {
scheduleNext(currentDone, currentResult);
}
}
// Get the current child
Behaviour current = getCurrent();
currentExecuted = false;
currentDone = false;
currentResult = 0;
if (current != null) {
if (current.isRunnable()) {
// Execute the current child
current.actionWrapper();
currentExecuted = true;
// If it is done --> call its onEnd() method
if (current.done()) {
currentDone = true;
currentResult = current.onEnd();
}
// Check if this CompositeBehaviour is finished
finished = checkTermination(currentDone, currentResult);
} else {
// The currently scheduled child is not runnable --> This
// Composite behaviour must block too and notify upwards
myEvent.init(false, NOTIFY_UP);
super.handle(myEvent);
}
} else {
// There are no children to execute
finished = true;
}
}
