retry_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2019 Davide Faconti, Eurecat -  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.
*
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*/

#ifndef DECORATORRETRYNODE_H
#define DECORATORRETRYNODE_H

#include "behaviortree_cpp/decorator_node.h"

namespace BT
{
class RetryNode : public DecoratorNode
{
  public:
    
    RetryNode(const std::string& name, int NTries);

    RetryNode(const std::string& name, const NodeConfiguration& config);

    virtual ~RetryNode() override = default;

    static PortsList providedPorts()
    {
        return { InputPort<int>(NUM_ATTEMPTS,
                               "Execute again a failing child up to N times. "
                               "Use -1 to create an infinite loop.") };
    }

    virtual void halt() override;

  private:
    int max_attempts_;
    int try_index_;

    bool read_parameter_from_ports_;
    static constexpr const char* NUM_ATTEMPTS = "num_attempts";

    virtual BT::NodeStatus tick() override;
};
}

#endif