condition_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018 Davide Faconti -  All Rights Reserved
*
*   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.
*/

#ifndef CONDITIONNODE_H
#define CONDITIONNODE_H

#include "leaf_node.h"

namespace BT
{
class ConditionNode : public LeafNode
{
  public:
    ConditionNode(const std::string& name, const NodeParameters& parameters = NodeParameters());

    virtual ~ConditionNode() override = default;

    // The method used to interrupt the execution of the node
    virtual void halt() override;

    virtual NodeType type() const override final
    {
        return NodeType::CONDITION;
    }
};

class SimpleConditionNode : public ConditionNode
{
  public:
    typedef std::function<NodeStatus(TreeNode&)> TickFunctor;

    // Constructor: you must provide the function to call when tick() is invoked
    SimpleConditionNode(const std::string& name, TickFunctor tick_functor,
                        const NodeParameters& params = NodeParameters());

    ~SimpleConditionNode() override = default;

    virtual void halt() override
    {
        // not supported
    }

  protected:
    virtual NodeStatus tick() override;

    TickFunctor tick_functor_;
};
}

#endif