repeat_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
*
*   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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*/

#pragma once

#include "behaviortree_cpp_v3/decorator_node.h"

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

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

  virtual ~RepeatNode() override = default;

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

private:
  int num_cycles_;
  int repeat_count_;

  bool read_parameter_from_ports_;
  static constexpr const char* NUM_CYCLES = "num_cycles";

  virtual NodeStatus tick() override;

  void halt() override;
};

}   // namespace BT