root_node removed in favour of a method. tickRoot() added

Author: facontidavide

docs/tutorial_02_basic_ports.md

@@ -204,7 +204,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     /*  Expected output:
 

docs/tutorial_03_generic_ports.md

@@ -165,7 +165,7 @@ int main()
     factory.registerNodeType<PrintTarget>("PrintTarget");
 
     auto tree = factory.createTreeFromText(xml_text);
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
 /* Expected output:
 

docs/tutorial_04_sequence_star.md

@@ -109,15 +109,15 @@ int main()
     NodeStatus status;
 
     std::cout << "\n--- 1st executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     SleepMS(150);
     std::cout << "\n--- 2nd executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     SleepMS(150);
     std::cout << "\n--- 3rd executeTick() ---" << std::endl;
-    status = tree.root_node->executeTick();
+    status = tree.tickRoot();
 
     std::cout << std::endl;
 

docs/tutorial_05_subtrees.md

@@ -88,28 +88,28 @@ int main()
     auto tree = factory.createTreeFromText(xml_text);
 
     // This logger prints state changes on console
-    StdCoutLogger logger_cout(tree.root_node);
+    StdCoutLogger logger_cout(tree.rootNode());
 
     // This logger saves state changes on file
-    FileLogger logger_file(tree.root_node, "bt_trace.fbl");
+    FileLogger logger_file(tree.rootNode(), "bt_trace.fbl");
 
     // This logger stores the execution time of each node
-    MinitraceLogger logger_minitrace(tree.root_node, "bt_trace.json");
+    MinitraceLogger logger_minitrace(tree.rootNode(), "bt_trace.json");
 
 #ifdef ZMQ_FOUND
     // This logger publish status changes using ZeroMQ. Used by Groot
     PublisherZMQ publisher_zmq(tree);
 #endif
 
-    printTreeRecursively(tree.root_node);
+    printTreeRecursively(tree.rootNode());
 
     //while (1)
     {
         NodeStatus status = NodeStatus::RUNNING;
         // Keep on ticking until you get either a SUCCESS or FAILURE state
         while( status == NodeStatus::RUNNING)
         {
-            status = tree.root_node->executeTick();
+            status = tree.tickRoot();
             CrossDoor::SleepMS(1);   // optional sleep to avoid "busy loops"
         }
         CrossDoor::SleepMS(2000);

docs/tutorial_06_subtree_ports.md

@@ -77,7 +77,7 @@ int main()
     // Keep on ticking until you get either a SUCCESS or FAILURE state
     while( status == NodeStatus::RUNNING)
     {
-        status = tree.root_node->executeTick();
+        status = tree.tickRoot();
         SleepMS(1);   // optional sleep to avoid "busy loops"
     }
 

docs/tutorial_07_legacy.md

@@ -87,7 +87,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }

docs/tutorial_08_additional_args.md

@@ -137,7 +137,7 @@ int main()
         }
     }
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }

docs/tutorial_09_coroutines.md

@@ -148,7 +148,7 @@ int main()
 
     //---------------------------------------
     // keep executin tick until it returns etiher SUCCESS or FAILURE
-    while( tree.root_node->executeTick() == NodeStatus::RUNNING)
+    while( tree.tickRoot() == NodeStatus::RUNNING)
     {
         std::this_thread::sleep_for( Milliseconds(10) );
     }

examples/t01_build_your_first_tree.cpp

@@ -82,7 +82,7 @@ int main()
     // The tick is propagated to the children based on the logic of the tree.
     // In this case, the entire sequence is executed, because all the children
     // of the Sequence return SUCCESS.
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     return 0;
 }

examples/t02_basic_ports.cpp

@@ -101,7 +101,7 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    tree.root_node->executeTick();
+    tree.tickRoot();
 
     /*  Expected output:
      *