parallel_all_node.h

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/* Copyright (C) 2023 Davide Faconti -  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.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
 
#pragma once
 
#include <set>
#include "behaviortree_cpp/control_node.h"
 
namespace BT
{
class ParallelAllNode : public ControlNode
{
public:
  ParallelAllNode(const std::string& name, const NodeConfig& config);
 
  static PortsList providedPorts()
  {
    return { InputPort<int>("max_failures", 1,
                            "If the number of children returning FAILURE exceeds this "
                            "value, "
                            "ParallelAll returns FAILURE") };
  }
 
  ~ParallelAllNode() override = default;
 
  virtual void halt() override;
 
  size_t failureThreshold() const;
  void setFailureThreshold(int threshold);
 
private:
  size_t failure_threshold_;
 
  std::set<size_t> completed_list_;
  size_t failure_count_ = 0;
 
  virtual BT::NodeStatus tick() override;
};
 
}  // namespace BT