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.
*
*   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,
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*/
 
#pragma once
 
#include "behaviortree_cpp/decorator_node.h"
 
namespace BT
{
class RepeatNode : public DecoratorNode
{
public:
  RepeatNode(const std::string& name, int NTries);
 
  RepeatNode(const std::string& name, const NodeConfig& config);
 
  virtual ~RepeatNode() override = default;
 
  static PortsList providedPorts()
  {
    return { InputPort<int>(NUM_CYCLES, "Repeat a successful child up to N times. "
                                        "Use -1 to create an infinite loop.") };
  }
 
private:
  int num_cycles_;
  int repeat_count_;
  bool all_skipped_ = true;
 
  bool read_parameter_from_ports_;
  static constexpr const char* NUM_CYCLES = "num_cycles";
 
  virtual NodeStatus tick() override;
 
  void halt() override;
};
 
}  // namespace BT