action_test_node.h

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#ifndef ACTIONTEST_H
#define ACTIONTEST_H
 
#include "behaviortree_cpp/action_node.h"
 
namespace BT
{
class SyncActionTest : public SyncActionNode
{
public:
  SyncActionTest(const std::string& name);
 
  BT::NodeStatus tick() override;
 
  void setExpectedResult(NodeStatus res);
 
  int tickCount() const
  {
    return tick_count_;
  }
 
  void resetTicks()
  {
    tick_count_ = 0;
  }
 
private:
  NodeStatus expected_result_;
  int tick_count_;
};
 
class AsyncActionTest : public ThreadedAction
{
public:
  AsyncActionTest(const std::string& name,
                  BT::Duration deadline_ms = std::chrono::milliseconds(100));
 
  virtual ~AsyncActionTest() override
  {
    halt();
  }
 
  // The method that is going to be executed by the thread
  BT::NodeStatus tick() override;
 
  void setTime(BT::Duration time);
 
  // The method used to interrupt the execution of the node
  virtual void halt() override;
 
  void setExpectedResult(NodeStatus res);
 
  int tickCount() const
  {
    return tick_count_;
  }
 
  int successCount() const
  {
    return success_count_;
  }
 
  int failureCount() const
  {
    return failure_count_;
  }
 
  void resetCounters()
  {
    success_count_ = 0;
    failure_count_ = 0;
    tick_count_ = 0;
  }
 
private:
  // using atomic because these variables might be accessed from different threads
  BT::Duration time_;
  std::atomic<NodeStatus> expected_result_;
  std::atomic<int> tick_count_;
  int success_count_;
  int failure_count_;
};
}  // namespace BT
 
#endif