Replace stop status with stop condition (#12)

Author: Typiqally

src/main/kotlin/com/tpcly/behaviourtree/Builder.kt

@@ -12,6 +12,8 @@ fun TreeNode.inverted() = Inverter(name, this)
 
 fun succeeder(name: String = "", init: () -> TreeNode): Succeeder = Succeeder(name, init())
 
+fun repeatUntil(stopCondition: (TreeNodeResult) -> Boolean, name: String = "", init: () -> TreeNode) = RepeatUntil(name, stopCondition, init())
+
 fun repeatUntil(status: Status, name: String = "", init: () -> TreeNode) = RepeatUntil(name, status, init())
 
 fun gate(validate: (blackboard: Blackboard) -> Boolean, name: String = "", init: () -> TreeNode) = Gate(name, validate, init())

src/main/kotlin/com/tpcly/behaviourtree/node/RepeatUntil.kt

@@ -5,23 +5,26 @@ import com.tpcly.behaviourtree.Status
 import com.tpcly.behaviourtree.TreeNodeResult
 
 /**
- * A decorator node that repeatedly executes its child until the specified [status] is returned
+ * A decorator node that repeatedly executes its child until the specified [stopCondition] is met
  *
- * @property status the status to loop until
+ * @property stopCondition the condition which determines when the loop terminates
  */
 class RepeatUntil(
     name: String,
-    private val status: Status,
+    private val stopCondition: (TreeNodeResult) -> Boolean,
     child: TreeNode
 ) : Decorator(name, child) {
+    constructor(name: String, status: Status, child: TreeNode)
+            : this(name, { it.status == status }, child)
+
     override fun execute(blackboard: Blackboard): TreeNodeResult {
         val results = mutableListOf<TreeNodeResult>()
 
         var result: TreeNodeResult
         do {
             result = child.execute(blackboard)
             results.add(result)
-        } while (result.status != status && result.status != Status.ABORT)
+        } while (!stopCondition(result) && result.status != Status.ABORT)
 
         return TreeNodeResult(this, result.status, results)
     }