parallel_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2022 Davide Faconti, Eurecat -  All Rights Reserved
*
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#pragma once

#include <set>
#include "behaviortree_cpp_v3/control_node.h"

namespace BT
{
class ParallelNode : public ControlNode
{
public:
  ParallelNode(const std::string& name, int success_threshold, int failure_threshold = 1);

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

  static PortsList providedPorts()
  {
    return {InputPort<int>(THRESHOLD_SUCCESS, "number of childen which need to succeed "
                                              "to "
                                              "trigger a SUCCESS"),
            InputPort<int>(THRESHOLD_FAILURE, 1,
                           "number of childen which need to fail to trigger a FAILURE")};
  }

  ~ParallelNode() override = default;

  virtual void halt() override;

  size_t successThreshold() const;
  size_t failureThreshold() const;
  void setSuccessThreshold(int threshold_M);
  void setFailureThreshold(int threshold_M);

private:
  int success_threshold_;
  int failure_threshold_;

  std::set<int> skip_list_;

  bool read_parameter_from_ports_;
  static constexpr const char* THRESHOLD_SUCCESS = "success_threshold";
  static constexpr const char* THRESHOLD_FAILURE = "failure_threshold";

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

}   // namespace BT