retry_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 "behaviortree_cpp_v3/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_count_;

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

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

class [[deprecated("RetryUntilSuccesful was a typo and deprecated, use "
                   "RetryUntilSuccessful "
                   "instead.")]] RetryNodeTypo : public RetryNode
{
public:
  RetryNodeTypo(const std::string& name, int NTries) : RetryNode(name, NTries){};

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

  virtual ~RetryNodeTypo() override = default;
};

}   // namespace BT