Fix init order

Signed-off-by: Gerson Fernando Budke <[email protected]>
OSSystems · Aug 8, 2024 · 3643c9e · 3643c9e
1 parent aa4a88a
commit 3643c9e
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Showing 2 changed files with 27 additions and 22 deletions.
diff --git a/samples/subsys/zephyrbt/dynamic/sample.yaml b/samples/subsys/zephyrbt/dynamic/sample.yaml
@@ -20,19 +20,19 @@ tests:
         - "D: eval delay \\[decorator, 13\\]"
         - "D: Deep: 1"
         - "D: delay \\[decorator, 13\\]"
-        - "W: zephyrbt_action_ask_for_help_init stub function"
-        - "D: init: timeout \\[decorator, 1\\]"
-        - "W: zephyrbt_action_place_ball_init stub function"
-        - "W: zephyrbt_condition_ball_placed_init stub function"
-        - "W: zephyrbt_action_approch_bin_init stub function"
-        - "W: zephyrbt_condition_bin_close_init stub function"
-        - "W: zephyrbt_action_grasp_ball_init stub function"
-        - "W: zephyrbt_condition_ball_grasped_init stub function"
-        - "W: zephyrbt_action_approch_ball_init stub function"
-        - "W: zephyrbt_condition_ball_close_init stub function"
-        - "W: zephyrbt_action_find_ball_init stub function"
-        - "W: zephyrbt_condition_ball_found_init stub function"
         - "D: init: delay \\[decorator, 19\\]"
+        - "W: zephyrbt_condition_ball_found_init stub function"
+        - "W: zephyrbt_action_find_ball_init stub function"
+        - "W: zephyrbt_condition_ball_close_init stub function"
+        - "W: zephyrbt_action_approch_ball_init stub function"
+        - "W: zephyrbt_condition_ball_grasped_init stub function"
+        - "W: zephyrbt_action_grasp_ball_init stub function"
+        - "W: zephyrbt_condition_bin_close_init stub function"
+        - "W: zephyrbt_action_approch_bin_init stub function"
+        - "W: zephyrbt_condition_ball_placed_init stub function"
+        - "W: zephyrbt_action_place_ball_init stub function"
+        - "D: init: timeout \\[decorator, 1\\]"
+        - "W: zephyrbt_action_ask_for_help_init stub function"
         - "D: tick"
         - "D: eval delay \\[decorator, 19\\]"
         - "D: Deep: 1"

diff --git a/subsys/zephyrbt/zephyrbt.c b/subsys/zephyrbt/zephyrbt.c
@@ -88,23 +88,28 @@ void zephyrbt_thread_func(void *zephyrbt_ctx, void *, void *)
 	}
 
 #if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INIT)
-	int i = 0;
-	struct zephyrbt_node *root = zephyrbt_get_root(ctx);
-	struct zephyrbt_node *self = zephyrbt_get_node(ctx, i);
+	/*
+	 * Initialization must be in the reverse order to ensure that
+	 * dependencies will be initialized first. This allow a global
+	 * context to be initialized at root or as close as root possible.
+	 */
+	for (int i = ctx->nodes - 1; i >= 0; --i) {
+		struct zephyrbt_node *self = zephyrbt_get_node(ctx, i);
+
+		if (self == NULL) {
+			LOG_ERR("Node %d is invalid", i);
+			continue;
+		}
 
-	while (self != NULL) {
 #if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_CONTEXT)
 		self->ctx = NULL;
 #endif
-		if (self->init != NULL) {
-			self->init(ctx, self);
-		}
 
-		if (self == root) {
-			break;
+		if (self->init == NULL) {
+			continue;
 		}
 
-		self = zephyrbt_get_node(ctx, ++i);
+		self->init(ctx, self);
 	}
 #endif