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/* Copyright (C) 2023 Davide Faconti - All Rights Reserved | ||
* Copyright (C) 2022 Gaël Écorchard, Czech Institute of Informatics, Robotics, and Cybernetics (ciirc) <[email protected]> | ||
* | ||
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), | ||
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, | ||
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: | ||
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. | ||
* | ||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, | ||
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
*/ | ||
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#pragma once | ||
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#include "behaviortree_cpp/decorator_node.h" | ||
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namespace BT { | ||
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/** | ||
* @brief The RunOnceNode is used when you want to execute the child | ||
* only once. | ||
* If the child is asynchronous, we will tick until either SUCCESS or FAILURE is | ||
* returned. | ||
* | ||
* After that first execution, you can set value of the port "then_skip" to: | ||
* | ||
* - if TRUE (default), the node will be skipped in the future. | ||
* - if FALSE, return synchronously the same status returned by the child, forever. | ||
*/ | ||
class RunOnceNode : public DecoratorNode | ||
{ | ||
public: | ||
RunOnceNode(const std::string& name, const NodeConfig& config) : | ||
DecoratorNode(name, config) | ||
{ | ||
setRegistrationID("RunOnce"); | ||
} | ||
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static PortsList providedPorts() | ||
{ | ||
return {InputPort<bool>( | ||
"then_skip", true, | ||
"If true, skip after the first execution, " | ||
"otherwise return the same NodeStatus returned once bu the child.")}; | ||
} | ||
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private: | ||
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virtual BT::NodeStatus tick() override; | ||
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bool already_ticked_ = false; | ||
NodeStatus returned_status_ = NodeStatus::IDLE; | ||
}; | ||
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//------------ implementation ---------------------------- | ||
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inline NodeStatus RunOnceNode::tick() | ||
{ | ||
bool skip = true; | ||
if(auto const res = getInput<bool>("then_skip")) | ||
{ | ||
skip = res.value(); | ||
} | ||
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if (already_ticked_) | ||
{ | ||
return skip ? NodeStatus::SKIPPED : returned_status_; | ||
} | ||
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setStatus(NodeStatus::RUNNING); | ||
auto const status = child_node_->executeTick(); | ||
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if(isStatusCompleted(status) ) { | ||
already_ticked_ = true; | ||
returned_status_ = status; | ||
} | ||
return status; | ||
} | ||
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} // namespace BT |
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