action_node_template.cpp

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*
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#include <HEADER.h>
#include <string>
BT::CLASSNAME::CONSTRUCTOR(std::string name) : ActionNode::ActionNode(name)
{
    thread_ = std::thread(&ActionTestNode::WaitForTick, this);
}

BT::CLASSNAME::~CONSTRUCTOR() {}

void BT::CLASSNAME::WaitForTick()
{
    while (true)
    {
        // Waiting for the first tick to come
        DEBUG_STDOUT(get_name() << " WAIT FOR TICK");

        tick_engine.Wait();
        DEBUG_STDOUT(get_name() << " TICK RECEIVED");

        // Running state
        set_status(BT::RUNNING);
        // Perform action...

        while (get_status() != BT::HALTED)
        {
        /*HERE THE CODE TO EXECUTE FOR THE ACTION.
         wHEN THE ACTION HAS FINISHED CORRECLTY, CALL set_status(BT::SUCCESS)
        IF THE ACTION FAILS, CALL set_status(BT::FAILURE)*/                     
        }
    }
}

void BT::CLASSNAME::Halt()
{
    /*HERE THE CODE TO PERFORM WHEN THE ACTION IS HALTED*/
    set_status(BT::HALTED);
    DEBUG_STDOUT("HALTED state set!");
}